diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-29_18-56-52_2114937732/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-29_18-56-52_2114937732/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..30729fcf64cf8bae4283b9375161f363dc3be650 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-29_18-56-52_2114937732/pose.jsonl @@ -0,0 +1,1030 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -309.64404744960103, + 714.8328604214325, + -8.750859326300674 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 1, + "pos": [ + -312.64404744960103, + 714.8328604214325, + -8.750859326300674 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 2, + "pos": [ + -315.64404744960103, + 714.8328604214325, + -8.750859326300674 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 3, + "pos": [ + -318.64404744960103, + 714.8328604214325, + -8.750859326300674 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 4, + "pos": [ + -321.64404744960103, + 714.8328604214325, + -8.750859326300674 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 5, + "pos": [ + -324.64404744960103, + 714.8328604214325, + -8.750859326300674 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 6, + "pos": [ + -327.64404744960103, + 714.8328604214325, + -8.750859326300674 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 7, + "pos": [ + -330.64404744960103, + 714.8328604214325, + -8.750859326300674 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 8, + "pos": [ + -333.64404744960103, + 714.8328604214325, + -8.750859326300674 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 9, + "pos": [ + -336.64404744960103, + 714.8328604214325, + -8.750859326300674 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 10, + "pos": [ + -339.64404744960103, + 714.8328604214325, + -8.750859326300674 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 11, + "pos": [ + -342.64404744960103, + 714.8328604214325, + -8.750859326300674 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 12, + "pos": [ + -345.64404744960103, + 714.8328604214325, + -8.750859326300674 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 13, + "pos": [ + -348.64404744960103, + 714.8328604214325, + -8.750859326300674 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 14, + "pos": [ + -351.64404744960103, + 714.8328604214325, + -8.750859326300674 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 15, + "pos": [ + -354.64404744960103, + 714.8328604214325, + -8.750859326300674 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 16, + "pos": [ + -357.64404744960103, + 714.8328604214325, + -8.750859326300674 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 17, + "pos": [ + -360.64404744960103, + 714.8328604214325, + -8.750859326300674 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 18, + "pos": [ + -363.64404744960103, + 714.8328604214325, + -8.750859326300674 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 19, + "pos": [ + -366.64404744960103, + 714.8328604214325, + -8.750859326300674 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 20, + "pos": [ + -369.64404744960103, + 714.8328604214325, + -8.750859326300674 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 21, + "pos": [ + -369.64404744960103, + 714.8328604214325, + -8.750859326300674 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + }, + "objects": [] +} +{ + "action": { + "imageid": 22, + "pos": [ + -372.24212366095435, + 713.3328604214325, + -8.750859326300674 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -374.84019987230766, + 711.8328604214325, + -8.750859326300674 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -377.438276083661, + 710.3328604214325, + -8.750859326300674 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -380.0363522950143, + 708.8328604214325, + -8.750859326300674 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -382.6344285063676, + 707.3328604214325, + -8.750859326300674 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -385.23250471772093, + 705.8328604214325, + -8.750859326300674 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -387.83058092907424, + 704.3328604214325, + -8.750859326300674 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -390.42865714042756, + 702.8328604214325, + -8.750859326300674 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -393.0267333517809, + 701.3328604214325, + -8.750859326300674 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -395.6248095631342, + 699.8328604214325, + -8.750859326300674 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -398.2228857744875, + 698.3328604214325, + -8.750859326300674 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -400.8209619858408, + 696.8328604214325, + -8.750859326300674 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -403.41903819719414, + 695.3328604214325, + -8.750859326300674 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -406.01711440854746, + 693.8328604214325, + -8.750859326300674 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -408.6151906199008, + 692.3328604214325, + -8.750859326300674 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -411.2132668312541, + 690.8328604214325, + -8.750859326300674 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-29_19-1-13_1682085273/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-29_19-1-13_1682085273/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3b481cee594f35658af0deae421272b988da9835 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-29_19-1-13_1682085273/pose.jsonl @@ -0,0 +1,1274 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -58.784528871756436, + 255.90354795888584, + -29.12415203935332 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [] +} +{ + "action": { + "imageid": 1, + "pos": [ + -56.18645266040312, + 254.40354795888584, + -29.12415203935332 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [] +} +{ + "action": { + "imageid": 2, + "pos": [ + -53.588376449049804, + 252.90354795888584, + -29.12415203935332 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [] +} +{ + "action": { + "imageid": 3, + "pos": [ + -50.99030023769649, + 251.40354795888584, + -29.12415203935332 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [] +} +{ + "action": { + "imageid": 4, + "pos": [ + -48.39222402634317, + 249.90354795888584, + -29.12415203935332 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [] +} +{ + "action": { + "imageid": 5, + "pos": [ + -45.794147814989856, + 248.40354795888584, + -29.12415203935332 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -43.19607160363654, + 246.90354795888584, + -29.12415203935332 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -40.597995392283224, + 245.40354795888584, + -29.12415203935332 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -37.99991918092991, + 243.90354795888584, + -29.12415203935332 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -35.40184296957659, + 242.40354795888584, + -29.12415203935332 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -32.803766758223276, + 240.90354795888584, + -29.12415203935332 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -30.20569054686996, + 239.40354795888584, + -29.12415203935332 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -27.607614335516644, + 237.90354795888584, + -29.12415203935332 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -25.009538124163328, + 236.40354795888584, + -29.12415203935332 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -22.41146191281001, + 234.90354795888584, + -29.12415203935332 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -19.813385701456696, + 233.40354795888584, + -29.12415203935332 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -17.21530949010338, + 231.90354795888584, + -29.12415203935332 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -14.617233278750064, + 230.40354795888584, + -29.12415203935332 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -12.019157067396748, + 228.90354795888584, + -29.12415203935332 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -9.421080856043432, + 227.40354795888584, + -29.12415203935332 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -6.823004644690116, + 225.90354795888584, + -29.12415203935332 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -4.2249284333368, + 224.40354795888584, + -29.12415203935332 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -1.6268522219834836, + 222.90354795888584, + -29.12415203935332 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + 0.9712239893698325, + 221.40354795888584, + -29.12415203935332 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + 3.5693002007231485, + 219.90354795888584, + -29.12415203935332 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + 6.1673764120764645, + 218.40354795888584, + -29.12415203935332 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + 8.76545262342978, + 216.90354795888584, + -29.12415203935332 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + 11.363528834783096, + 215.40354795888584, + -29.12415203935332 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + 13.961605046136413, + 213.90354795888584, + -29.12415203935332 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + 16.55968125748973, + 212.40354795888584, + -29.12415203935332 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + 19.157757468843045, + 210.90354795888584, + -29.12415203935332 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + 21.75583368019636, + 209.40354795888584, + -29.12415203935332 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + 24.353909891549677, + 207.90354795888584, + -29.12415203935332 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + 26.951986102902993, + 206.40354795888584, + -29.12415203935332 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + 29.55006231425631, + 204.90354795888584, + -29.12415203935332 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + 32.148138525609625, + 203.40354795888584, + -29.12415203935332 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + 32.148138525609625, + 203.40354795888584, + -29.12415203935332 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + 33.648138525609625, + 200.80547174753252, + -29.12415203935332 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + 35.148138525609625, + 198.2073955361792, + -29.12415203935332 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 39, + "pos": [ + 36.648138525609625, + 195.6093193248259, + -29.12415203935332 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 40, + "pos": [ + 38.148138525609625, + 193.01124311347257, + -29.12415203935332 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-29_19-18-55_1676902021/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-29_19-18-55_1676902021/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1e01b98498092dabb29f59173db1d4a84b4b40e0 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-29_19-18-55_1676902021/pose.jsonl @@ -0,0 +1,1683 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -629.0113251433125, + 544.2715934026066, + -25.02652661343628 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -626.0113251433125, + 544.2715934026066, + -25.02652661343628 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -623.0113251433125, + 544.2715934026066, + -25.02652661343628 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -620.0113251433125, + 544.2715934026066, + -25.02652661343628 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -617.0113251433125, + 544.2715934026066, + -25.02652661343628 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -614.0113251433125, + 544.2715934026066, + -25.02652661343628 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -611.0113251433125, + 544.2715934026066, + -25.02652661343628 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -608.0113251433125, + 544.2715934026066, + -25.02652661343628 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -605.0113251433125, + 544.2715934026066, + -25.02652661343628 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -605.0113251433125, + 544.2715934026066, + -25.02652661343628 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -602.4132489319593, + 542.7715934026066, + -25.02652661343628 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755983084 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -602.4132489319593, + 542.7715934026066, + -25.02652661343628 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -600.9132489319593, + 540.1735171912533, + -25.02652661343628 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -600.9132489319593, + 540.1735171912533, + -25.02652661343628 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -598.3151727206059, + 538.6735171912533, + -25.02652661343628 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -595.7170965092525, + 537.1735171912533, + -25.02652661343628 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -593.1190202978992, + 535.6735171912533, + -25.02652661343628 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -590.5209440865458, + 534.1735171912533, + -25.02652661343628 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -587.9228678751924, + 532.6735171912533, + -25.02652661343628 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -585.324791663839, + 531.1735171912533, + -25.02652661343628 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -582.7267154524857, + 529.6735171912533, + -25.02652661343628 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -580.1286392411323, + 528.1735171912533, + -25.02652661343628 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -577.5305630297789, + 526.6735171912533, + -25.02652661343628 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -574.9324868184256, + 525.1735171912533, + -25.02652661343628 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -572.3344106070722, + 523.6735171912533, + -25.02652661343628 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -569.7363343957188, + 522.1735171912533, + -25.02652661343628 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -567.1382581843654, + 520.6735171912533, + -25.02652661343628 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -564.5401819730121, + 519.1735171912533, + -25.02652661343628 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -561.9421057616587, + 517.6735171912533, + -25.02652661343628 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -559.3440295503053, + 516.1735171912533, + -25.02652661343628 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -556.745953338952, + 514.6735171912533, + -25.02652661343628 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -554.1478771275986, + 513.1735171912533, + -25.02652661343628 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -551.5498009162452, + 511.67351719125327, + -25.02652661343628 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -548.9517247048918, + 510.17351719125327, + -25.02652661343628 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -546.3536484935385, + 508.67351719125327, + -25.02652661343628 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-29_19-35-37_1983690368/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-29_19-35-37_1983690368/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..487f446862a539b8a2502fef787f9f04f9e6c599 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-29_19-35-37_1983690368/pose.jsonl @@ -0,0 +1,1187 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -642.773984190185, + 267.6600174661505, + -8.470333844761058 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -642.773984190185, + 264.6600174661505, + -8.470333844761058 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -642.773984190185, + 261.6600174661505, + -8.470333844761058 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -642.773984190185, + 258.6600174661505, + -8.470333844761058 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -642.773984190185, + 255.66001746615052, + -8.470333844761058 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -642.773984190185, + 252.66001746615052, + -8.470333844761058 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -642.773984190185, + 249.66001746615052, + -8.470333844761058 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -642.773984190185, + 246.66001746615052, + -8.470333844761058 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -642.773984190185, + 243.66001746615052, + -8.470333844761058 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -642.773984190185, + 240.66001746615052, + -8.470333844761058 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -642.773984190185, + 237.66001746615052, + -8.470333844761058 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -642.773984190185, + 234.66001746615052, + -8.470333844761058 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -642.773984190185, + 231.66001746615052, + -8.470333844761058 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -642.773984190185, + 228.66001746615052, + -8.470333844761058 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -642.773984190185, + 225.66001746615052, + -8.470333844761058 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -642.773984190185, + 222.66001746615052, + -8.470333844761058 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -642.773984190185, + 219.66001746615052, + -8.470333844761058 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -642.773984190185, + 216.66001746615052, + -8.470333844761058 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -642.773984190185, + 213.66001746615052, + -8.470333844761058 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -642.773984190185, + 210.66001746615052, + -8.470333844761058 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -642.773984190185, + 207.66001746615052, + -8.470333844761058 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -642.773984190185, + 204.66001746615052, + -8.470333844761058 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -642.773984190185, + 201.66001746615052, + -8.470333844761058 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -642.773984190185, + 198.66001746615052, + -8.470333844761058 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -642.773984190185, + 195.66001746615052, + -8.470333844761058 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -642.773984190185, + 192.66001746615052, + -8.470333844761058 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -642.773984190185, + 189.66001746615052, + -8.470333844761058 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -642.773984190185, + 186.66001746615052, + -8.470333844761058 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -642.773984190185, + 183.66001746615052, + -8.470333844761058 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -642.773984190185, + 180.66001746615052, + -8.470333844761058 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -642.773984190185, + 177.66001746615052, + -8.470333844761058 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -642.773984190185, + 174.66001746615052, + -8.470333844761058 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -642.773984190185, + 171.66001746615052, + -8.470333844761058 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -642.773984190185, + 168.66001746615052, + -8.470333844761058 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-29_19-45-13_1671294892/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-29_19-45-13_1671294892/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e9c18231c38dd29637ae110faec0783e8ffb810c --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-29_19-45-13_1671294892/pose.jsonl @@ -0,0 +1,1455 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -206.5420227004722, + 532.7958461003443, + -3.5093345142516696 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 1, + "pos": [ + -209.1400989118255, + 531.2958461003443, + -3.5093345142516696 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 2, + "pos": [ + -211.73817512317882, + 529.7958461003443, + -3.5093345142516696 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 3, + "pos": [ + -214.33625133453214, + 528.2958461003443, + -3.5093345142516696 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 4, + "pos": [ + -216.93432754588545, + 526.7958461003443, + -3.5093345142516696 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 5, + "pos": [ + -219.53240375723877, + 525.2958461003443, + -3.5093345142516696 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 6, + "pos": [ + -222.13047996859208, + 523.7958461003443, + -3.5093345142516696 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 7, + "pos": [ + -224.7285561799454, + 522.2958461003443, + -3.5093345142516696 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 8, + "pos": [ + -227.32663239129872, + 520.7958461003443, + -3.5093345142516696 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -229.92470860265203, + 519.2958461003443, + -3.5093345142516696 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -232.52278481400535, + 517.7958461003443, + -3.5093345142516696 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -235.12086102535866, + 516.2958461003443, + -3.5093345142516696 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -237.71893723671198, + 514.7958461003443, + -3.5093345142516696 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -240.3170134480653, + 513.2958461003443, + -3.5093345142516696 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -242.9150896594186, + 511.7958461003443, + -3.5093345142516696 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -245.51316587077193, + 510.2958461003443, + -3.5093345142516696 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -248.11124208212524, + 508.7958461003443, + -3.5093345142516696 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -250.70931829347856, + 507.2958461003443, + -3.5093345142516696 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -253.30739450483188, + 505.7958461003443, + -3.5093345142516696 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -255.9054707161852, + 504.2958461003443, + -3.5093345142516696 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -258.50354692753854, + 502.7958461003443, + -3.5093345142516696 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914993 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -261.10162313889185, + 501.2958461003443, + -3.5093345142516696 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -263.69969935024517, + 499.7958461003443, + -3.5093345142516696 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -266.2977755615985, + 498.2958461003443, + -3.5093345142516696 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -268.8958517729518, + 496.7958461003443, + -3.5093345142516696 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -271.4939279843051, + 495.2958461003443, + -3.5093345142516696 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -274.09200419565843, + 493.7958461003443, + -3.5093345142516696 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -276.69008040701175, + 492.2958461003443, + -3.5093345142516696 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -279.28815661836506, + 490.7958461003443, + -3.5093345142516696 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -281.8862328297184, + 489.2958461003443, + -3.5093345142516696 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -284.4843090410717, + 487.7958461003443, + -3.5093345142516696 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -287.082385252425, + 486.2958461003443, + -3.5093345142516696 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -289.68046146377833, + 484.7958461003443, + -3.5093345142516696 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -292.27853767513164, + 483.2958461003443, + -3.5093345142516696 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -294.87661388648496, + 481.7958461003443, + -3.5093345142516696 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -297.4746900978383, + 480.2958461003443, + -3.5093345142516696 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -300.0727663091916, + 478.7958461003443, + -3.5093345142516696 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -302.6708425205449, + 477.2958461003443, + -3.5093345142516696 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -305.2689187318982, + 475.7958461003443, + -3.5093345142516696 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 39, + "pos": [ + -305.2689187318982, + 475.7958461003443, + -3.5093345142516696 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931957 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 40, + "pos": [ + -305.2689187318982, + 475.7958461003443, + -3.5093345142516696 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948968 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 41, + "pos": [ + -305.2689187318982, + 472.7958461003443, + -3.5093345142516696 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-29_20-2-45_820697697/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-29_20-2-45_820697697/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..09e89b7f0ddd575a304432377c08ca6701d17921 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-29_20-2-45_820697697/pose.jsonl @@ -0,0 +1,1717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -773.2104847547592, + 462.9098808237308, + -5.745877897094019 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -770.2104847547592, + 462.9098808237308, + -5.745877897094019 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -767.2104847547592, + 462.9098808237308, + -5.745877897094019 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -764.2104847547592, + 462.9098808237308, + -5.745877897094019 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -761.2104847547592, + 462.9098808237308, + -5.745877897094019 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -758.2104847547592, + 462.9098808237308, + -5.745877897094019 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -755.2104847547592, + 462.9098808237308, + -5.745877897094019 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -752.2104847547592, + 462.9098808237308, + -5.745877897094019 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -749.2104847547592, + 462.9098808237308, + -5.745877897094019 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -746.2104847547592, + 462.9098808237308, + -5.745877897094019 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -746.2104847547592, + 462.9098808237308, + -5.745877897094019 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -746.2104847547592, + 462.9098808237308, + -5.745877897094019 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -744.7104847547592, + 465.50795703508413, + -5.745877897094019 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -743.2104847547592, + 468.10603324643745, + -5.745877897094019 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -743.2104847547592, + 468.10603324643745, + -5.745877897094019 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -740.612408543406, + 469.60603324643745, + -5.745877897094019 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -738.0143323320526, + 471.10603324643745, + -5.745877897094019 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -735.4162561206992, + 472.60603324643745, + -5.745877897094019 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -732.8181799093459, + 474.10603324643745, + -5.745877897094019 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -730.2201036979925, + 475.60603324643745, + -5.745877897094019 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -727.6220274866391, + 477.10603324643745, + -5.745877897094019 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -725.0239512752858, + 478.60603324643745, + -5.745877897094019 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -722.4258750639324, + 480.10603324643745, + -5.745877897094019 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -719.827798852579, + 481.60603324643745, + -5.745877897094019 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -717.2297226412256, + 483.10603324643745, + -5.745877897094019 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -714.6316464298723, + 484.60603324643745, + -5.745877897094019 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -712.0335702185189, + 486.10603324643745, + -5.745877897094019 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -709.4354940071655, + 487.60603324643745, + -5.745877897094019 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -706.8374177958121, + 489.10603324643745, + -5.745877897094019 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -704.2393415844588, + 490.60603324643745, + -5.745877897094019 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -701.6412653731054, + 492.10603324643745, + -5.745877897094019 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -699.043189161752, + 493.60603324643745, + -5.745877897094019 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -696.4451129503987, + 495.10603324643745, + -5.745877897094019 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -693.8470367390453, + 496.60603324643745, + -5.745877897094019 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -691.2489605276919, + 498.10603324643745, + -5.745877897094019 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -688.6508843163385, + 499.60603324643745, + -5.745877897094019 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -686.0528081049852, + 501.10603324643745, + -5.745877897094019 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -683.4547318936318, + 502.60603324643745, + -5.745877897094019 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -680.8566556822784, + 504.10603324643745, + -5.745877897094019 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-29_20-3-34_655858699/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-29_20-3-34_655858699/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f532fda3810ac0905e059fde0f1bd60e6a355c67 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-29_20-3-34_655858699/pose.jsonl @@ -0,0 +1,1799 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -593.0741244232725, + 538.5725390715833, + -11.612860950840929 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -591.5741244232725, + 535.97446286023, + -11.612860950840929 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -590.0741244232725, + 533.3763866488766, + -11.612860950840929 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -588.5741244232725, + 530.7783104375233, + -11.612860950840929 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -587.0741244232725, + 528.1802342261699, + -11.612860950840929 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -585.5741244232725, + 525.5821580148165, + -11.612860950840929 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -584.0741244232725, + 522.9840818034631, + -11.612860950840929 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -582.5741244232725, + 520.3860055921098, + -11.612860950840929 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -581.0741244232725, + 517.7879293807564, + -11.612860950840929 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -579.5741244232725, + 515.189853169403, + -11.612860950840929 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -578.0741244232725, + 512.5917769580496, + -11.612860950840929 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -576.5741244232725, + 509.99370074669633, + -11.612860950840929 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -575.0741244232725, + 507.395624535343, + -11.612860950840929 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -573.5741244232725, + 504.7975483239897, + -11.612860950840929 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -572.0741244232725, + 502.1994721126364, + -11.612860950840929 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -570.5741244232725, + 499.60139590128307, + -11.612860950840929 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -569.0741244232725, + 497.00331968992975, + -11.612860950840929 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -567.5741244232725, + 494.40524347857644, + -11.612860950840929 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -566.0741244232725, + 491.8071672672231, + -11.612860950840929 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -564.5741244232725, + 489.2090910558698, + -11.612860950840929 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -563.0741244232725, + 486.6110148445165, + -11.612860950840929 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -561.5741244232725, + 484.0129386331632, + -11.612860950840929 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -560.0741244232725, + 481.41486242180986, + -11.612860950840929 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -558.5741244232725, + 478.81678621045654, + -11.612860950840929 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -557.0741244232725, + 476.2187099991032, + -11.612860950840929 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -555.5741244232725, + 473.6206337877499, + -11.612860950840929 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -554.0741244232725, + 471.0225575763966, + -11.612860950840929 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -552.5741244232725, + 468.4244813650433, + -11.612860950840929 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -551.0741244232725, + 465.82640515368996, + -11.612860950840929 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -549.5741244232725, + 463.22832894233665, + -11.612860950840929 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -548.0741244232725, + 460.63025273098333, + -11.612860950840929 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -546.5741244232725, + 458.03217651963, + -11.612860950840929 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -545.0741244232725, + 455.4341003082767, + -11.612860950840929 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -543.5741244232725, + 452.8360240969234, + -11.612860950840929 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -542.0741244232725, + 450.23794788557007, + -11.612860950840929 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -540.5741244232725, + 447.63987167421675, + -11.612860950840929 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -539.0741244232725, + 445.04179546286343, + -11.612860950840929 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -537.5741244232725, + 442.4437192515101, + -11.612860950840929 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -537.5741244232725, + 442.4437192515101, + -11.612860950840929 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 39, + "pos": [ + -537.5741244232725, + 439.4437192515101, + -11.612860950840929 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 40, + "pos": [ + -537.5741244232725, + 436.4437192515101, + -11.612860950840929 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_0-29-2_756898537/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_0-29-2_756898537/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0b4a92358c5d2386dabd2a1c888b0164d8e4ccfa --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_0-29-2_756898537/pose.jsonl @@ -0,0 +1,1036 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -505.2395676281977, + 136.77704449736473, + -13.188083100358746 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [] +} +{ + "action": { + "imageid": 1, + "pos": [ + -503.7395676281977, + 134.1789682860114, + -13.188083100358746 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [] +} +{ + "action": { + "imageid": 2, + "pos": [ + -502.2395676281977, + 131.5808920746581, + -13.188083100358746 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [] +} +{ + "action": { + "imageid": 3, + "pos": [ + -500.7395676281977, + 128.98281586330478, + -13.188083100358746 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [] +} +{ + "action": { + "imageid": 4, + "pos": [ + -499.2395676281977, + 126.38473965195146, + -13.188083100358746 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [] +} +{ + "action": { + "imageid": 5, + "pos": [ + -497.7395676281977, + 123.78666344059815, + -13.188083100358746 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [] +} +{ + "action": { + "imageid": 6, + "pos": [ + -496.2395676281977, + 121.18858722924483, + -13.188083100358746 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -494.7395676281977, + 118.59051101789152, + -13.188083100358746 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -493.2395676281977, + 115.9924348065382, + -13.188083100358746 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -491.7395676281977, + 113.39435859518488, + -13.188083100358746 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -490.2395676281977, + 110.79628238383157, + -13.188083100358746 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -488.7395676281977, + 108.19820617247825, + -13.188083100358746 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -487.2395676281977, + 105.60012996112494, + -13.188083100358746 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -485.7395676281977, + 103.00205374977162, + -13.188083100358746 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -484.2395676281977, + 100.4039775384183, + -13.188083100358746 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -482.7395676281977, + 97.80590132706499, + -13.188083100358746 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -481.2395676281977, + 95.20782511571167, + -13.188083100358746 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -479.7395676281977, + 92.60974890435836, + -13.188083100358746 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -478.2395676281977, + 90.01167269300504, + -13.188083100358746 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -476.7395676281977, + 87.41359648165172, + -13.188083100358746 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -475.2395676281977, + 84.8155202702984, + -13.188083100358746 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -473.7395676281977, + 82.21744405894509, + -13.188083100358746 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -472.2395676281977, + 79.61936784759177, + -13.188083100358746 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -470.7395676281977, + 77.02129163623846, + -13.188083100358746 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -469.2395676281977, + 74.42321542488514, + -13.188083100358746 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -467.7395676281977, + 71.82513921353183, + -13.188083100358746 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -466.2395676281977, + 69.22706300217851, + -13.188083100358746 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -464.7395676281977, + 66.6289867908252, + -13.188083100358746 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -464.7395676281977, + 66.6289867908252, + -13.188083100358746 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -462.14149141684436, + 65.1289867908252, + -13.188083100358746 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -459.54341520549104, + 63.628986790825195, + -13.188083100358746 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -456.9453389941377, + 62.128986790825195, + -13.188083100358746 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -454.3472627827844, + 60.628986790825195, + -13.188083100358746 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -451.7491865714311, + 59.128986790825195, + -13.188083100358746 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -449.1511103600778, + 57.628986790825195, + -13.188083100358746 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -446.55303414872446, + 56.128986790825195, + -13.188083100358746 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -443.95495793737115, + 54.628986790825195, + -13.188083100358746 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -441.35688172601783, + 53.128986790825195, + -13.188083100358746 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -438.7588055146645, + 51.628986790825195, + -13.188083100358746 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 39, + "pos": [ + -436.1607293033112, + 50.128986790825195, + -13.188083100358746 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + }, + "objects": [] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_0-29-52_1734575198/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_0-29-52_1734575198/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..84155fbd1b9afd9aa573dbc962de9d290f3571fb --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_0-29-52_1734575198/pose.jsonl @@ -0,0 +1,1326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 187.3194272616085, + 139.7404732308244, + -17.657912058947108 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 1, + "pos": [ + 184.3194272616085, + 139.7404732308244, + -17.657912058947108 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 2, + "pos": [ + 181.3194272616085, + 139.7404732308244, + -17.657912058947108 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 3, + "pos": [ + 178.3194272616085, + 139.7404732308244, + -17.657912058947108 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 4, + "pos": [ + 175.3194272616085, + 139.7404732308244, + -17.657912058947108 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 5, + "pos": [ + 172.3194272616085, + 139.7404732308244, + -17.657912058947108 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + 169.3194272616085, + 139.7404732308244, + -17.657912058947108 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + 166.3194272616085, + 139.7404732308244, + -17.657912058947108 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + 163.3194272616085, + 139.7404732308244, + -17.657912058947108 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + 160.3194272616085, + 139.7404732308244, + -17.657912058947108 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + 157.3194272616085, + 139.7404732308244, + -17.657912058947108 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + 154.3194272616085, + 139.7404732308244, + -17.657912058947108 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + 151.3194272616085, + 139.7404732308244, + -17.657912058947108 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + 148.3194272616085, + 139.7404732308244, + -17.657912058947108 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + 145.3194272616085, + 139.7404732308244, + -17.657912058947108 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + 142.3194272616085, + 139.7404732308244, + -17.657912058947108 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + 139.3194272616085, + 139.7404732308244, + -17.657912058947108 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + 136.3194272616085, + 139.7404732308244, + -17.657912058947108 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + 133.3194272616085, + 139.7404732308244, + -17.657912058947108 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + 130.3194272616085, + 139.7404732308244, + -17.657912058947108 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + 127.3194272616085, + 139.7404732308244, + -17.657912058947108 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + 124.3194272616085, + 139.7404732308244, + -17.657912058947108 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + 121.3194272616085, + 139.7404732308244, + -17.657912058947108 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + 118.3194272616085, + 139.7404732308244, + -17.657912058947108 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + 115.3194272616085, + 139.7404732308244, + -17.657912058947108 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + 112.3194272616085, + 139.7404732308244, + -17.657912058947108 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + 109.3194272616085, + 139.7404732308244, + -17.657912058947108 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + 106.3194272616085, + 139.7404732308244, + -17.657912058947108 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + 103.3194272616085, + 139.7404732308244, + -17.657912058947108 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + 100.3194272616085, + 139.7404732308244, + -17.657912058947108 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + 97.3194272616085, + 139.7404732308244, + -17.657912058947108 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + 94.3194272616085, + 139.7404732308244, + -17.657912058947108 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + 91.3194272616085, + 139.7404732308244, + -17.657912058947108 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + 88.3194272616085, + 139.7404732308244, + -17.657912058947108 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + 85.3194272616085, + 139.7404732308244, + -17.657912058947108 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + 85.3194272616085, + 139.7404732308244, + -17.657912058947108 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + 85.3194272616085, + 139.7404732308244, + -17.657912058947108 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + 83.8194272616085, + 142.3385494421777, + -17.657912058947108 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + 82.3194272616085, + 144.93662565353102, + -17.657912058947108 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 39, + "pos": [ + 80.8194272616085, + 147.53470186488434, + -17.657912058947108 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 40, + "pos": [ + 79.3194272616085, + 150.13277807623766, + -17.657912058947108 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_0-38-20_42999170/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_0-38-20_42999170/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f0923a2b07ad696df48227003caeda98d9be8597 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_0-38-20_42999170/pose.jsonl @@ -0,0 +1,1372 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -438.3085994287209, + 534.8568000161132, + -21.709443105695584 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -440.90667564007424, + 533.3568000161132, + -21.709443105695584 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -443.50475185142756, + 531.8568000161132, + -21.709443105695584 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -446.1028280627809, + 530.3568000161132, + -21.709443105695584 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -448.7009042741342, + 528.8568000161132, + -21.709443105695584 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -451.2989804854875, + 527.3568000161132, + -21.709443105695584 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -453.8970566968408, + 525.8568000161132, + -21.709443105695584 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -456.49513290819414, + 524.3568000161132, + -21.709443105695584 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -459.09320911954745, + 522.8568000161132, + -21.709443105695584 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -461.69128533090077, + 521.3568000161132, + -21.709443105695584 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -464.2893615422541, + 519.8568000161132, + -21.709443105695584 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -466.8874377536074, + 518.3568000161132, + -21.709443105695584 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -469.4855139649607, + 516.8568000161132, + -21.709443105695584 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -472.08359017631403, + 515.3568000161132, + -21.709443105695584 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -474.68166638766735, + 513.8568000161132, + -21.709443105695584 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -477.27974259902066, + 512.3568000161132, + -21.709443105695584 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -479.877818810374, + 510.8568000161132, + -21.709443105695584 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -482.4758950217273, + 509.3568000161132, + -21.709443105695584 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -485.0739712330806, + 507.8568000161132, + -21.709443105695584 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -487.67204744443393, + 506.3568000161132, + -21.709443105695584 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -490.27012365578724, + 504.8568000161132, + -21.709443105695584 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -492.86819986714056, + 503.3568000161132, + -21.709443105695584 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -495.4662760784939, + 501.8568000161132, + -21.709443105695584 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -498.0643522898472, + 500.3568000161132, + -21.709443105695584 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -500.6624285012005, + 498.8568000161132, + -21.709443105695584 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -503.2605047125538, + 497.3568000161132, + -21.709443105695584 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -505.85858092390714, + 495.8568000161132, + -21.709443105695584 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -508.45665713526046, + 494.3568000161132, + -21.709443105695584 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -511.0547333466138, + 492.8568000161132, + -21.709443105695584 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_0-44-41_805750846/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_0-44-41_805750846/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6912cbdb1a11831d9967b5a2cc168e166a6dd4a1 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_0-44-41_805750846/pose.jsonl @@ -0,0 +1,1360 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -503.39172003412307, + 718.8684834802394, + -2.000185150954586 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 1, + "pos": [ + -506.39172003412307, + 718.8684834802394, + -2.000185150954586 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 2, + "pos": [ + -509.39172003412307, + 718.8684834802394, + -2.000185150954586 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 3, + "pos": [ + -512.3917200341231, + 718.8684834802394, + -2.000185150954586 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 4, + "pos": [ + -515.3917200341231, + 718.8684834802394, + -2.000185150954586 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 5, + "pos": [ + -518.3917200341231, + 718.8684834802394, + -2.000185150954586 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 6, + "pos": [ + -521.3917200341231, + 718.8684834802394, + -2.000185150954586 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -524.3917200341231, + 718.8684834802394, + -2.000185150954586 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -527.3917200341231, + 718.8684834802394, + -2.000185150954586 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -530.3917200341231, + 718.8684834802394, + -2.000185150954586 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -533.3917200341231, + 718.8684834802394, + -2.000185150954586 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -536.3917200341231, + 718.8684834802394, + -2.000185150954586 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -539.3917200341231, + 718.8684834802394, + -2.000185150954586 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -542.3917200341231, + 718.8684834802394, + -2.000185150954586 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -545.3917200341231, + 718.8684834802394, + -2.000185150954586 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -548.3917200341231, + 718.8684834802394, + -2.000185150954586 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -551.3917200341231, + 718.8684834802394, + -2.000185150954586 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -554.3917200341231, + 718.8684834802394, + -2.000185150954586 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -557.3917200341231, + 718.8684834802394, + -2.000185150954586 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -560.3917200341231, + 718.8684834802394, + -2.000185150954586 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -563.3917200341231, + 718.8684834802394, + -2.000185150954586 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -566.3917200341231, + 718.8684834802394, + -2.000185150954586 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -569.3917200341231, + 718.8684834802394, + -2.000185150954586 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -572.3917200341231, + 718.8684834802394, + -2.000185150954586 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -575.3917200341231, + 718.8684834802394, + -2.000185150954586 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -578.3917200341231, + 718.8684834802394, + -2.000185150954586 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -581.3917200341231, + 718.8684834802394, + -2.000185150954586 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -584.3917200341231, + 718.8684834802394, + -2.000185150954586 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -587.3917200341231, + 718.8684834802394, + -2.000185150954586 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -590.3917200341231, + 718.8684834802394, + -2.000185150954586 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -593.3917200341231, + 718.8684834802394, + -2.000185150954586 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -596.3917200341231, + 718.8684834802394, + -2.000185150954586 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -599.3917200341231, + 718.8684834802394, + -2.000185150954586 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -602.3917200341231, + 718.8684834802394, + -2.000185150954586 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -605.3917200341231, + 718.8684834802394, + -2.000185150954586 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -608.3917200341231, + 718.8684834802394, + -2.000185150954586 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -611.3917200341231, + 718.8684834802394, + -2.000185150954586 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -614.3917200341231, + 718.8684834802394, + -2.000185150954586 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -617.3917200341231, + 718.8684834802394, + -2.000185150954586 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_0-53-40_1374344043/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_0-53-40_1374344043/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c4cc89669079331a4bf89a38fd9e27e00f398ae3 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_0-53-40_1374344043/pose.jsonl @@ -0,0 +1,993 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 64.9846668293659, + 302.81833124764705, + -1.717935444973115 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + 66.4846668293659, + 300.22025503629374, + -1.717935444973115 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + 67.9846668293659, + 297.6221788249404, + -1.717935444973115 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + 69.4846668293659, + 295.0241026135871, + -1.717935444973115 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + 69.4846668293659, + 295.0241026135871, + -1.717935444973115 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + 72.08274304071922, + 293.5241026135871, + -1.717935444973115 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + 74.68081925207254, + 292.0241026135871, + -1.717935444973115 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + 77.27889546342585, + 290.5241026135871, + -1.717935444973115 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + 79.87697167477917, + 289.0241026135871, + -1.717935444973115 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + 82.47504788613249, + 287.5241026135871, + -1.717935444973115 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + 85.0731240974858, + 286.0241026135871, + -1.717935444973115 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + 87.67120030883912, + 284.5241026135871, + -1.717935444973115 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + 90.26927652019243, + 283.0241026135871, + -1.717935444973115 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 176.12223529815674, + 236.40146827697754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + 92.86735273154575, + 281.5241026135871, + -1.717935444973115 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 176.12223529815674, + 236.40146827697754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + 95.46542894289907, + 280.0241026135871, + -1.717935444973115 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 176.12223529815674, + 236.40146827697754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + 98.06350515425238, + 278.5241026135871, + -1.717935444973115 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 176.12223529815674, + 236.40146827697754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + 100.6615813656057, + 277.0241026135871, + -1.717935444973115 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 176.12223529815674, + 236.40146827697754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + 103.25965757695901, + 275.5241026135871, + -1.717935444973115 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 176.12223529815674, + 236.40146827697754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + 105.85773378831233, + 274.0241026135871, + -1.717935444973115 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 176.12223529815674, + 236.40146827697754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + 108.45580999966565, + 272.5241026135871, + -1.717935444973115 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 176.12223529815674, + 236.40146827697754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + 111.05388621101896, + 271.0241026135871, + -1.717935444973115 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 176.12223529815674, + 236.40146827697754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + 113.65196242237228, + 269.5241026135871, + -1.717935444973115 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 176.12223529815674, + 236.40146827697754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + 116.2500386337256, + 268.0241026135871, + -1.717935444973115 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 176.12223529815674, + 236.40146827697754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + 118.84811484507891, + 266.5241026135871, + -1.717935444973115 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 176.12223529815674, + 236.40146827697754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + 121.44619105643223, + 265.0241026135871, + -1.717935444973115 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 176.12223529815674, + 236.40146827697754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + 124.04426726778554, + 263.5241026135871, + -1.717935444973115 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 176.12223529815674, + 236.40146827697754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + 126.64234347913886, + 262.0241026135871, + -1.717935444973115 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 176.12223529815674, + 236.40146827697754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + 129.24041969049216, + 260.5241026135871, + -1.717935444973115 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755983013 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 176.12223529815674, + 236.40146827697754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_1-24-41_364228444/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_1-24-41_364228444/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..af0b58b9aea9e8171db26f99cb29cf3ffe1834e2 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_1-24-41_364228444/pose.jsonl @@ -0,0 +1,1567 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -567.8504384678014, + 695.7997922892038, + -7.26539198626768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -566.3504384678014, + 693.2017160778505, + -7.26539198626768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -564.8504384678014, + 690.6036398664971, + -7.26539198626768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -563.3504384678014, + 688.0055636551438, + -7.26539198626768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -561.8504384678014, + 685.4074874437904, + -7.26539198626768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -560.3504384678014, + 682.809411232437, + -7.26539198626768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -558.8504384678014, + 680.2113350210836, + -7.26539198626768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -557.3504384678014, + 677.6132588097303, + -7.26539198626768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -555.8504384678014, + 675.0151825983769, + -7.26539198626768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -554.3504384678014, + 672.4171063870235, + -7.26539198626768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -552.8504384678014, + 669.8190301756702, + -7.26539198626768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -551.3504384678014, + 667.2209539643168, + -7.26539198626768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -549.8504384678014, + 664.6228777529634, + -7.26539198626768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -548.3504384678014, + 662.02480154161, + -7.26539198626768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -546.8504384678014, + 659.4267253302567, + -7.26539198626768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -545.3504384678014, + 656.8286491189033, + -7.26539198626768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -543.8504384678014, + 654.2305729075499, + -7.26539198626768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -542.3504384678014, + 651.6324966961965, + -7.26539198626768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -540.8504384678014, + 649.0344204848432, + -7.26539198626768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -539.3504384678014, + 646.4363442734898, + -7.26539198626768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -537.8504384678014, + 643.8382680621364, + -7.26539198626768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -536.3504384678014, + 641.240191850783, + -7.26539198626768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -534.8504384678014, + 638.6421156394297, + -7.26539198626768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -533.3504384678014, + 636.0440394280763, + -7.26539198626768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -531.8504384678014, + 633.4459632167229, + -7.26539198626768 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -531.8504384678014, + 633.4459632167229, + -7.26539198626768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -531.8504384678014, + 630.4459632167229, + -7.26539198626768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -531.8504384678014, + 627.4459632167229, + -7.26539198626768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -531.8504384678014, + 624.4459632167229, + -7.26539198626768 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_1-31-2_1469834481/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_1-31-2_1469834481/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9841de8a34ca0dd3530980d659a1e815787aa0bb --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_1-31-2_1469834481/pose.jsonl @@ -0,0 +1,1814 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -603.9579546854341, + 395.4708571772446, + -27.03755311569261 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -603.9579546854341, + 398.4708571772446, + -27.03755311569261 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -603.9579546854341, + 401.4708571772446, + -27.03755311569261 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -603.9579546854341, + 404.4708571772446, + -27.03755311569261 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -603.9579546854341, + 407.4708571772446, + -27.03755311569261 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -603.9579546854341, + 410.4708571772446, + -27.03755311569261 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -603.9579546854341, + 413.4708571772446, + -27.03755311569261 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -603.9579546854341, + 416.4708571772446, + -27.03755311569261 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -603.9579546854341, + 419.4708571772446, + -27.03755311569261 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -603.9579546854341, + 422.4708571772446, + -27.03755311569261 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -603.9579546854341, + 425.4708571772446, + -27.03755311569261 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -603.9579546854341, + 428.4708571772446, + -27.03755311569261 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -603.9579546854341, + 431.4708571772446, + -27.03755311569261 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -603.9579546854341, + 434.4708571772446, + -27.03755311569261 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -603.9579546854341, + 437.4708571772446, + -27.03755311569261 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -603.9579546854341, + 440.4708571772446, + -27.03755311569261 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -603.9579546854341, + 443.4708571772446, + -27.03755311569261 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -603.9579546854341, + 446.4708571772446, + -27.03755311569261 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -603.9579546854341, + 449.4708571772446, + -27.03755311569261 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -603.9579546854341, + 452.4708571772446, + -27.03755311569261 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -603.9579546854341, + 455.4708571772446, + -27.03755311569261 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -603.9579546854341, + 458.4708571772446, + -27.03755311569261 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -603.9579546854341, + 461.4708571772446, + -27.03755311569261 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -603.9579546854341, + 464.4708571772446, + -27.03755311569261 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -603.9579546854341, + 467.4708571772446, + -27.03755311569261 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -603.9579546854341, + 470.4708571772446, + -27.03755311569261 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -603.9579546854341, + 473.4708571772446, + -27.03755311569261 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -603.9579546854341, + 476.4708571772446, + -27.03755311569261 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -603.9579546854341, + 479.4708571772446, + -27.03755311569261 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -603.9579546854341, + 479.4708571772446, + -27.03755311569261 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -602.4579546854341, + 482.06893338859794, + -27.03755311569261 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -600.9579546854341, + 484.66700959995126, + -27.03755311569261 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -599.4579546854341, + 487.2650858113046, + -27.03755311569261 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -597.9579546854341, + 489.8631620226579, + -27.03755311569261 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -596.4579546854341, + 492.4612382340112, + -27.03755311569261 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -594.9579546854341, + 495.0593144453645, + -27.03755311569261 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -593.4579546854341, + 497.65739065671784, + -27.03755311569261 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -591.9579546854341, + 500.25546686807115, + -27.03755311569261 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -590.4579546854341, + 502.85354307942447, + -27.03755311569261 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 39, + "pos": [ + -588.9579546854341, + 505.4516192907778, + -27.03755311569261 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 40, + "pos": [ + -587.4579546854341, + 508.0496955021311, + -27.03755311569261 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 41, + "pos": [ + -585.9579546854341, + 510.6477717134844, + -27.03755311569261 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_1-50-16_1631518149/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_1-50-16_1631518149/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..194609d353cba83d8876c988228af722f65f9b1b --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_1-50-16_1631518149/pose.jsonl @@ -0,0 +1,1434 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -657.3083451968685, + 203.83280377458013, + -3.792071979089208 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -654.3083451968685, + 203.83280377458013, + -3.792071979089208 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -651.3083451968685, + 203.83280377458013, + -3.792071979089208 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -648.3083451968685, + 203.83280377458013, + -3.792071979089208 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -645.3083451968685, + 203.83280377458013, + -3.792071979089208 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -642.3083451968685, + 203.83280377458013, + -3.792071979089208 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -639.3083451968685, + 203.83280377458013, + -3.792071979089208 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -636.3083451968685, + 203.83280377458013, + -3.792071979089208 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -633.3083451968685, + 203.83280377458013, + -3.792071979089208 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -630.3083451968685, + 203.83280377458013, + -3.792071979089208 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -627.3083451968685, + 203.83280377458013, + -3.792071979089208 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -624.3083451968685, + 203.83280377458013, + -3.792071979089208 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -621.3083451968685, + 203.83280377458013, + -3.792071979089208 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -618.3083451968685, + 203.83280377458013, + -3.792071979089208 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -615.3083451968685, + 203.83280377458013, + -3.792071979089208 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -612.3083451968685, + 203.83280377458013, + -3.792071979089208 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -609.3083451968685, + 203.83280377458013, + -3.792071979089208 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -606.3083451968685, + 203.83280377458013, + -3.792071979089208 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -603.3083451968685, + 203.83280377458013, + -3.792071979089208 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -600.3083451968685, + 203.83280377458013, + -3.792071979089208 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -597.3083451968685, + 203.83280377458013, + -3.792071979089208 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -594.3083451968685, + 203.83280377458013, + -3.792071979089208 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -591.3083451968685, + 203.83280377458013, + -3.792071979089208 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -588.3083451968685, + 203.83280377458013, + -3.792071979089208 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -585.3083451968685, + 203.83280377458013, + -3.792071979089208 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -582.3083451968685, + 203.83280377458013, + -3.792071979089208 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -579.3083451968685, + 203.83280377458013, + -3.792071979089208 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -576.3083451968685, + 203.83280377458013, + -3.792071979089208 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -573.3083451968685, + 203.83280377458013, + -3.792071979089208 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -570.3083451968685, + 203.83280377458013, + -3.792071979089208 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -570.3083451968685, + 203.83280377458013, + -3.792071979089208 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -567.7102689855151, + 202.33280377458013, + -3.792071979089208 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -565.1121927741617, + 200.83280377458013, + -3.792071979089208 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -562.5141165628083, + 199.33280377458013, + -3.792071979089208 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -559.916040351455, + 197.83280377458013, + -3.792071979089208 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -557.3179641401016, + 196.33280377458013, + -3.792071979089208 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -554.7198879287482, + 194.83280377458013, + -3.792071979089208 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -552.1218117173948, + 193.33280377458013, + -3.792071979089208 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -549.5237355060415, + 191.83280377458013, + -3.792071979089208 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 39, + "pos": [ + -546.9256592946881, + 190.33280377458013, + -3.792071979089208 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 40, + "pos": [ + -544.3275830833347, + 188.83280377458013, + -3.792071979089208 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + }, + "objects": [] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_1-51-7_200747796/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_1-51-7_200747796/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5ac7e75abf09ca53bf0e2a8e88dcf0b88d467ae9 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_1-51-7_200747796/pose.jsonl @@ -0,0 +1,1504 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -29.676662203578807, + 497.42878649546407, + -29.83019480911207 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [] +} +{ + "action": { + "imageid": 1, + "pos": [ + -29.676662203578807, + 494.42878649546407, + -29.83019480911207 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [] +} +{ + "action": { + "imageid": 2, + "pos": [ + -29.676662203578807, + 491.42878649546407, + -29.83019480911207 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [] +} +{ + "action": { + "imageid": 3, + "pos": [ + -29.676662203578807, + 488.42878649546407, + -29.83019480911207 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -29.676662203578807, + 485.42878649546407, + -29.83019480911207 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -29.676662203578807, + 482.42878649546407, + -29.83019480911207 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -29.676662203578807, + 479.42878649546407, + -29.83019480911207 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -29.676662203578807, + 476.42878649546407, + -29.83019480911207 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -29.676662203578807, + 473.42878649546407, + -29.83019480911207 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -29.676662203578807, + 470.42878649546407, + -29.83019480911207 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -29.676662203578807, + 467.42878649546407, + -29.83019480911207 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -29.676662203578807, + 464.42878649546407, + -29.83019480911207 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -29.676662203578807, + 461.42878649546407, + -29.83019480911207 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -29.676662203578807, + 458.42878649546407, + -29.83019480911207 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -29.676662203578807, + 455.42878649546407, + -29.83019480911207 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -29.676662203578807, + 452.42878649546407, + -29.83019480911207 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -29.676662203578807, + 449.42878649546407, + -29.83019480911207 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -29.676662203578807, + 446.42878649546407, + -29.83019480911207 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -29.676662203578807, + 443.42878649546407, + -29.83019480911207 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -29.676662203578807, + 440.42878649546407, + -29.83019480911207 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -29.676662203578807, + 437.42878649546407, + -29.83019480911207 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -29.676662203578807, + 434.42878649546407, + -29.83019480911207 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -29.676662203578807, + 431.42878649546407, + -29.83019480911207 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -29.676662203578807, + 428.42878649546407, + -29.83019480911207 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -29.676662203578807, + 425.42878649546407, + -29.83019480911207 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -29.676662203578807, + 422.42878649546407, + -29.83019480911207 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -29.676662203578807, + 419.42878649546407, + -29.83019480911207 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -29.676662203578807, + 416.42878649546407, + -29.83019480911207 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -29.676662203578807, + 413.42878649546407, + -29.83019480911207 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -29.676662203578807, + 410.42878649546407, + -29.83019480911207 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -29.676662203578807, + 407.42878649546407, + -29.83019480911207 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -29.676662203578807, + 404.42878649546407, + -29.83019480911207 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -29.676662203578807, + 401.42878649546407, + -29.83019480911207 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -29.676662203578807, + 398.42878649546407, + -29.83019480911207 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -29.676662203578807, + 395.42878649546407, + -29.83019480911207 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -67.61026430130005, + 306.6483554840088, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -29.676662203578807, + 392.42878649546407, + -29.83019480911207 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -67.61026430130005, + 306.6483554840088, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -29.676662203578807, + 389.42878649546407, + -29.83019480911207 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -67.61026430130005, + 306.6483554840088, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -29.676662203578807, + 386.42878649546407, + -29.83019480911207 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -67.61026430130005, + 306.6483554840088, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_1-54-17_150122846/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_1-54-17_150122846/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..51532079ba6a2ceb3992261e92ef25996c3d027c --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_1-54-17_150122846/pose.jsonl @@ -0,0 +1,1469 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -652.6890715039542, + 804.2451252249708, + -23.26290489749572 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -651.1890715039542, + 801.6470490136176, + -23.26290489749572 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -649.6890715039542, + 799.0489728022642, + -23.26290489749572 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -648.1890715039542, + 796.4508965909108, + -23.26290489749572 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -646.6890715039542, + 793.8528203795574, + -23.26290489749572 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -645.1890715039542, + 791.2547441682041, + -23.26290489749572 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -643.6890715039542, + 788.6566679568507, + -23.26290489749572 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -642.1890715039542, + 786.0585917454973, + -23.26290489749572 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -640.6890715039542, + 783.460515534144, + -23.26290489749572 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -639.1890715039542, + 780.8624393227906, + -23.26290489749572 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -637.6890715039542, + 778.2643631114372, + -23.26290489749572 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -636.1890715039542, + 775.6662869000838, + -23.26290489749572 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -634.6890715039542, + 773.0682106887305, + -23.26290489749572 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -633.1890715039542, + 770.4701344773771, + -23.26290489749572 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -631.6890715039542, + 767.8720582660237, + -23.26290489749572 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -630.1890715039542, + 765.2739820546703, + -23.26290489749572 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -628.6890715039542, + 762.675905843317, + -23.26290489749572 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -627.1890715039542, + 760.0778296319636, + -23.26290489749572 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -625.6890715039542, + 757.4797534206102, + -23.26290489749572 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -624.1890715039542, + 754.8816772092568, + -23.26290489749572 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -622.6890715039542, + 752.2836009979035, + -23.26290489749572 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -621.1890715039542, + 749.6855247865501, + -23.26290489749572 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -619.6890715039542, + 747.0874485751967, + -23.26290489749572 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -618.1890715039542, + 744.4893723638434, + -23.26290489749572 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -618.1890715039542, + 744.4893723638434, + -23.26290489749572 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -618.1890715039542, + 741.4893723638434, + -23.26290489749572 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -618.1890715039542, + 738.4893723638434, + -23.26290489749572 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -618.1890715039542, + 735.4893723638434, + -23.26290489749572 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -618.1890715039542, + 732.4893723638434, + -23.26290489749572 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -618.1890715039542, + 729.4893723638434, + -23.26290489749572 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -618.1890715039542, + 726.4893723638434, + -23.26290489749572 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -618.1890715039542, + 723.4893723638434, + -23.26290489749572 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_1-59-29_338888228/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_1-59-29_338888228/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..11c882e2657f4d69229461fdd364a19d46ddb0d7 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_1-59-29_338888228/pose.jsonl @@ -0,0 +1,1235 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -487.1663964499422, + 699.4961760704548, + -16.54599739916838 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -490.1663964499422, + 699.4961760704548, + -16.54599739916838 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -493.1663964499422, + 699.4961760704548, + -16.54599739916838 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -496.1663964499422, + 699.4961760704548, + -16.54599739916838 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -499.1663964499422, + 699.4961760704548, + -16.54599739916838 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -502.1663964499422, + 699.4961760704548, + -16.54599739916838 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -505.1663964499422, + 699.4961760704548, + -16.54599739916838 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -508.1663964499422, + 699.4961760704548, + -16.54599739916838 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -511.1663964499422, + 699.4961760704548, + -16.54599739916838 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -514.1663964499422, + 699.4961760704548, + -16.54599739916838 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -517.1663964499422, + 699.4961760704548, + -16.54599739916838 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -520.1663964499422, + 699.4961760704548, + -16.54599739916838 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -523.1663964499422, + 699.4961760704548, + -16.54599739916838 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -526.1663964499422, + 699.4961760704548, + -16.54599739916838 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -529.1663964499422, + 699.4961760704548, + -16.54599739916838 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -532.1663964499422, + 699.4961760704548, + -16.54599739916838 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -535.1663964499422, + 699.4961760704548, + -16.54599739916838 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -538.1663964499422, + 699.4961760704548, + -16.54599739916838 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -541.1663964499422, + 699.4961760704548, + -16.54599739916838 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -544.1663964499422, + 699.4961760704548, + -16.54599739916838 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -547.1663964499422, + 699.4961760704548, + -16.54599739916838 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -550.1663964499422, + 699.4961760704548, + -16.54599739916838 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -553.1663964499422, + 699.4961760704548, + -16.54599739916838 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -556.1663964499422, + 699.4961760704548, + -16.54599739916838 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -559.1663964499422, + 699.4961760704548, + -16.54599739916838 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -562.1663964499422, + 699.4961760704548, + -16.54599739916838 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -565.1663964499422, + 699.4961760704548, + -16.54599739916838 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -568.1663964499422, + 699.4961760704548, + -16.54599739916838 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -571.1663964499422, + 699.4961760704548, + -16.54599739916838 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -574.1663964499422, + 699.4961760704548, + -16.54599739916838 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -574.1663964499422, + 699.4961760704548, + -16.54599739916838 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -576.7644726612955, + 700.9961760704548, + -16.54599739916838 + ], + "type": "stop", + "value": 0, + "yaw": 2.617993877991485 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_10-2-56_1312630443/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_10-2-56_1312630443/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c2e494939b334413096fb449964aac30900883db --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_10-2-56_1312630443/pose.jsonl @@ -0,0 +1,1646 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -173.43254316957083, + 624.7325653434357, + -11.26616703232354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -174.93254316957083, + 622.1344891320823, + -11.26616703232354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -176.43254316957083, + 619.5364129207289, + -11.26616703232354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -177.93254316957083, + 616.9383367093756, + -11.26616703232354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -179.43254316957083, + 614.3402604980222, + -11.26616703232354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -180.93254316957083, + 611.7421842866688, + -11.26616703232354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -182.43254316957083, + 609.1441080753154, + -11.26616703232354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -183.93254316957083, + 606.5460318639621, + -11.26616703232354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -185.43254316957083, + 603.9479556526087, + -11.26616703232354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -186.93254316957083, + 601.3498794412553, + -11.26616703232354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -188.43254316957083, + 598.751803229902, + -11.26616703232354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -189.93254316957083, + 596.1537270185486, + -11.26616703232354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -191.43254316957083, + 593.5556508071952, + -11.26616703232354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -192.93254316957083, + 590.9575745958418, + -11.26616703232354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -194.43254316957083, + 588.3594983844885, + -11.26616703232354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -195.93254316957083, + 585.7614221731351, + -11.26616703232354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -197.43254316957083, + 583.1633459617817, + -11.26616703232354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -198.93254316957083, + 580.5652697504283, + -11.26616703232354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -200.43254316957083, + 577.967193539075, + -11.26616703232354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -201.93254316957083, + 575.3691173277216, + -11.26616703232354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -203.43254316957083, + 572.7710411163682, + -11.26616703232354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -204.93254316957083, + 570.1729649050149, + -11.26616703232354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -206.43254316957083, + 567.5748886936615, + -11.26616703232354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -207.93254316957083, + 564.9768124823081, + -11.26616703232354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -209.43254316957083, + 562.3787362709547, + -11.26616703232354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -210.93254316957083, + 559.7806600596014, + -11.26616703232354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -212.43254316957083, + 557.182583848248, + -11.26616703232354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -213.93254316957083, + 554.5845076368946, + -11.26616703232354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -215.43254316957083, + 551.9864314255412, + -11.26616703232354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -216.93254316957083, + 549.3883552141879, + -11.26616703232354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -218.43254316957083, + 546.7902790028345, + -11.26616703232354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -219.93254316957083, + 544.1922027914811, + -11.26616703232354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -221.43254316957083, + 541.5941265801277, + -11.26616703232354 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -221.43254316957083, + 541.5941265801277, + -11.26616703232354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -224.03061938092415, + 540.0941265801277, + -11.26616703232354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -226.62869559227747, + 538.5941265801277, + -11.26616703232354 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_10-23-15_2106914653/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_10-23-15_2106914653/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..840c36d00fa6c782766098b9173657621730d3eb --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_10-23-15_2106914653/pose.jsonl @@ -0,0 +1,1871 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -214.43841686684266, + 694.7019297574317, + -7.157449724674326 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [] +} +{ + "action": { + "imageid": 1, + "pos": [ + -214.43841686684266, + 691.7019297574317, + -7.157449724674326 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [] +} +{ + "action": { + "imageid": 2, + "pos": [ + -214.43841686684266, + 688.7019297574317, + -7.157449724674326 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -214.43841686684266, + 685.7019297574317, + -7.157449724674326 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -214.43841686684266, + 682.7019297574317, + -7.157449724674326 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -214.43841686684266, + 679.7019297574317, + -7.157449724674326 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -214.43841686684266, + 676.7019297574317, + -7.157449724674326 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -214.43841686684266, + 673.7019297574317, + -7.157449724674326 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -214.43841686684266, + 670.7019297574317, + -7.157449724674326 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -214.43841686684266, + 667.7019297574317, + -7.157449724674326 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -214.43841686684266, + 664.7019297574317, + -7.157449724674326 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -214.43841686684266, + 661.7019297574317, + -7.157449724674326 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -214.43841686684266, + 658.7019297574317, + -7.157449724674326 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -214.43841686684266, + 655.7019297574317, + -7.157449724674326 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -214.43841686684266, + 652.7019297574317, + -7.157449724674326 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -214.43841686684266, + 649.7019297574317, + -7.157449724674326 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -214.43841686684266, + 646.7019297574317, + -7.157449724674326 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -214.43841686684266, + 643.7019297574317, + -7.157449724674326 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -214.43841686684266, + 640.7019297574317, + -7.157449724674326 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -214.43841686684266, + 637.7019297574317, + -7.157449724674326 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -214.43841686684266, + 634.7019297574317, + -7.157449724674326 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -214.43841686684266, + 631.7019297574317, + -7.157449724674326 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -214.43841686684266, + 628.7019297574317, + -7.157449724674326 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -214.43841686684266, + 625.7019297574317, + -7.157449724674326 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -214.43841686684266, + 622.7019297574317, + -7.157449724674326 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -214.43841686684266, + 619.7019297574317, + -7.157449724674326 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -214.43841686684266, + 616.7019297574317, + -7.157449724674326 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -214.43841686684266, + 613.7019297574317, + -7.157449724674326 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -214.43841686684266, + 610.7019297574317, + -7.157449724674326 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -214.43841686684266, + 607.7019297574317, + -7.157449724674326 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -214.43841686684266, + 604.7019297574317, + -7.157449724674326 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -214.43841686684266, + 601.7019297574317, + -7.157449724674326 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -214.43841686684266, + 598.7019297574317, + -7.157449724674326 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -214.43841686684266, + 598.7019297574317, + -7.157449724674326 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -212.93841686684266, + 596.1038535460784, + -7.157449724674326 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -211.43841686684266, + 593.505777334725, + -7.157449724674326 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -209.93841686684266, + 590.9077011233717, + -7.157449724674326 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -208.43841686684266, + 588.3096249120183, + -7.157449724674326 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -206.93841686684266, + 585.7115487006649, + -7.157449724674326 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [] +} +{ + "action": { + "imageid": 39, + "pos": [ + -205.43841686684266, + 583.1134724893116, + -7.157449724674326 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + }, + "objects": [] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_10-26-12_980356728/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_10-26-12_980356728/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a4d00c3ac49c714c1fad66130870c82321d54806 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_10-26-12_980356728/pose.jsonl @@ -0,0 +1,1095 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -515.215342613677, + 475.7041530098678, + -16.5729974857244 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -517.8134188250303, + 477.2041530098678, + -16.5729974857244 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -520.4114950363837, + 478.7041530098678, + -16.5729974857244 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -523.0095712477371, + 480.2041530098678, + -16.5729974857244 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -525.6076474590905, + 481.7041530098678, + -16.5729974857244 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -528.2057236704438, + 483.2041530098678, + -16.5729974857244 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -530.8037998817972, + 484.7041530098678, + -16.5729974857244 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -533.4018760931506, + 486.2041530098678, + -16.5729974857244 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -535.999952304504, + 487.7041530098678, + -16.5729974857244 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -538.5980285158573, + 489.2041530098678, + -16.5729974857244 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -541.1961047272107, + 490.7041530098678, + -16.5729974857244 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -543.7941809385641, + 492.2041530098678, + -16.5729974857244 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -546.3922571499174, + 493.7041530098678, + -16.5729974857244 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -548.9903333612708, + 495.2041530098678, + -16.5729974857244 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -551.5884095726242, + 496.7041530098678, + -16.5729974857244 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -554.1864857839776, + 498.2041530098678, + -16.5729974857244 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -556.7845619953309, + 499.7041530098678, + -16.5729974857244 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -559.3826382066843, + 501.2041530098678, + -16.5729974857244 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -561.9807144180377, + 502.7041530098678, + -16.5729974857244 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -564.578790629391, + 504.2041530098678, + -16.5729974857244 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -567.1768668407444, + 505.7041530098678, + -16.5729974857244 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -569.7749430520978, + 507.2041530098678, + -16.5729974857244 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -572.3730192634512, + 508.7041530098678, + -16.5729974857244 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -574.9710954748045, + 510.2041530098678, + -16.5729974857244 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -577.5691716861579, + 511.7041530098678, + -16.5729974857244 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -580.1672478975113, + 513.2041530098678, + -16.5729974857244 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -582.7653241088647, + 514.7041530098678, + -16.5729974857244 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_10-27-32_1404515797/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_10-27-32_1404515797/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7665be0ebdb55cfb28e2ee4d74ece1133fe3f539 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_10-27-32_1404515797/pose.jsonl @@ -0,0 +1,1694 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -427.8059817878382, + 709.5344995592648, + -25.11036217296728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -427.8059817878382, + 706.5344995592648, + -25.11036217296728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -427.8059817878382, + 703.5344995592648, + -25.11036217296728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -427.8059817878382, + 700.5344995592648, + -25.11036217296728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -427.8059817878382, + 697.5344995592648, + -25.11036217296728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -427.8059817878382, + 694.5344995592648, + -25.11036217296728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -427.8059817878382, + 691.5344995592648, + -25.11036217296728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -427.8059817878382, + 688.5344995592648, + -25.11036217296728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -427.8059817878382, + 685.5344995592648, + -25.11036217296728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -427.8059817878382, + 682.5344995592648, + -25.11036217296728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -427.8059817878382, + 679.5344995592648, + -25.11036217296728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -427.8059817878382, + 676.5344995592648, + -25.11036217296728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -427.8059817878382, + 673.5344995592648, + -25.11036217296728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -427.8059817878382, + 670.5344995592648, + -25.11036217296728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -427.8059817878382, + 667.5344995592648, + -25.11036217296728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -427.8059817878382, + 664.5344995592648, + -25.11036217296728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -427.8059817878382, + 661.5344995592648, + -25.11036217296728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -427.8059817878382, + 658.5344995592648, + -25.11036217296728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -427.8059817878382, + 655.5344995592648, + -25.11036217296728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -427.8059817878382, + 652.5344995592648, + -25.11036217296728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -427.8059817878382, + 649.5344995592648, + -25.11036217296728 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -427.8059817878382, + 649.5344995592648, + -25.11036217296728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -426.3059817878382, + 646.9364233479114, + -25.11036217296728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -424.8059817878382, + 644.338347136558, + -25.11036217296728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -423.3059817878382, + 641.7402709252046, + -25.11036217296728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -421.8059817878382, + 639.1421947138513, + -25.11036217296728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -420.3059817878382, + 636.5441185024979, + -25.11036217296728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -418.8059817878382, + 633.9460422911445, + -25.11036217296728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -417.3059817878382, + 631.3479660797911, + -25.11036217296728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -415.8059817878382, + 628.7498898684378, + -25.11036217296728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -414.3059817878382, + 626.1518136570844, + -25.11036217296728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -412.8059817878382, + 623.553737445731, + -25.11036217296728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -411.3059817878382, + 620.9556612343777, + -25.11036217296728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -409.8059817878382, + 618.3575850230243, + -25.11036217296728 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_10-29-45_279121308/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_10-29-45_279121308/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9e723c14cd4208a7ff3085c6f605705ab600aa8f --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_10-29-45_279121308/pose.jsonl @@ -0,0 +1,1190 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 18.46049471092074, + 347.86936599692126, + -29.45401940243099 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + 21.058570922274058, + 346.36936599692126, + -29.45401940243099 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + 23.656647133627374, + 344.86936599692126, + -29.45401940243099 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + 26.25472334498069, + 343.36936599692126, + -29.45401940243099 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + 28.852799556334006, + 341.86936599692126, + -29.45401940243099 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + 31.45087576768732, + 340.36936599692126, + -29.45401940243099 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + 34.04895197904064, + 338.86936599692126, + -29.45401940243099 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + 36.647028190393954, + 337.36936599692126, + -29.45401940243099 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + 39.24510440174727, + 335.86936599692126, + -29.45401940243099 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + 41.843180613100586, + 334.36936599692126, + -29.45401940243099 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + 44.4412568244539, + 332.86936599692126, + -29.45401940243099 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + 47.03933303580722, + 331.36936599692126, + -29.45401940243099 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + 49.637409247160534, + 329.86936599692126, + -29.45401940243099 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + 52.23548545851385, + 328.36936599692126, + -29.45401940243099 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + 54.833561669867166, + 326.86936599692126, + -29.45401940243099 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + 57.43163788122048, + 325.36936599692126, + -29.45401940243099 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + 60.0297140925738, + 323.86936599692126, + -29.45401940243099 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + 62.627790303927114, + 322.36936599692126, + -29.45401940243099 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + 65.22586651528043, + 320.86936599692126, + -29.45401940243099 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + 67.82394272663375, + 319.36936599692126, + -29.45401940243099 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + 70.42201893798706, + 317.86936599692126, + -29.45401940243099 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + 73.02009514934038, + 316.36936599692126, + -29.45401940243099 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + 75.6181713606937, + 314.86936599692126, + -29.45401940243099 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + 78.21624757204701, + 313.36936599692126, + -29.45401940243099 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + 78.21624757204701, + 313.36936599692126, + -29.45401940243099 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + 79.71624757204701, + 310.77128978556794, + -29.45401940243099 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + 81.21624757204701, + 308.1732135742146, + -29.45401940243099 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + 82.71624757204701, + 305.5751373628613, + -29.45401940243099 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + 84.21624757204701, + 302.977061151508, + -29.45401940243099 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_10-35-50_452825171/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_10-35-50_452825171/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cb46f03bafd501a012bbec58571f7e720ed4fe26 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_10-35-50_452825171/pose.jsonl @@ -0,0 +1,910 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -468.4755680069578, + 644.3576917000066, + -2.7723318018802665 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -468.4755680069578, + 647.3576917000066, + -2.7723318018802665 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -468.4755680069578, + 650.3576917000066, + -2.7723318018802665 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -468.4755680069578, + 653.3576917000066, + -2.7723318018802665 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -468.4755680069578, + 656.3576917000066, + -2.7723318018802665 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -468.4755680069578, + 659.3576917000066, + -2.7723318018802665 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -468.4755680069578, + 662.3576917000066, + -2.7723318018802665 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -468.4755680069578, + 665.3576917000066, + -2.7723318018802665 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -468.4755680069578, + 668.3576917000066, + -2.7723318018802665 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -468.4755680069578, + 671.3576917000066, + -2.7723318018802665 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -468.4755680069578, + 674.3576917000066, + -2.7723318018802665 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -468.4755680069578, + 677.3576917000066, + -2.7723318018802665 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -468.4755680069578, + 680.3576917000066, + -2.7723318018802665 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -468.4755680069578, + 683.3576917000066, + -2.7723318018802665 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -468.4755680069578, + 686.3576917000066, + -2.7723318018802665 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -468.4755680069578, + 689.3576917000066, + -2.7723318018802665 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -468.4755680069578, + 692.3576917000066, + -2.7723318018802665 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -468.4755680069578, + 692.3576917000066, + -2.7723318018802665 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -469.9755680069578, + 694.95576791136, + -2.7723318018802665 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -471.4755680069578, + 697.5538441227134, + -2.7723318018802665 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -472.9755680069578, + 700.1519203340667, + -2.7723318018802665 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -474.4755680069578, + 702.7499965454201, + -2.7723318018802665 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -475.9755680069578, + 705.3480727567735, + -2.7723318018802665 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -477.4755680069578, + 707.9461489681269, + -2.7723318018802665 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -478.9755680069578, + 710.5442251794802, + -2.7723318018802665 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -480.4755680069578, + 713.1423013908336, + -2.7723318018802665 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -481.9755680069578, + 715.740377602187, + -2.7723318018802665 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -483.4755680069578, + 718.3384538135404, + -2.7723318018802665 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -484.9755680069578, + 720.9365300248937, + -2.7723318018802665 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -486.4755680069578, + 723.5346062362471, + -2.7723318018802665 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -487.9755680069578, + 726.1326824476005, + -2.7723318018802665 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -489.4755680069578, + 728.7307586589538, + -2.7723318018802665 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_10-43-18_454333378/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_10-43-18_454333378/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7a14745898425b95ab211afb19351df1af520e1f --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_10-43-18_454333378/pose.jsonl @@ -0,0 +1,938 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -179.91690187453625, + 269.2192740729271, + -16.289232518776004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -179.91690187453625, + 266.2192740729271, + -16.289232518776004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -179.91690187453625, + 263.2192740729271, + -16.289232518776004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -179.91690187453625, + 260.2192740729271, + -16.289232518776004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -179.91690187453625, + 257.2192740729271, + -16.289232518776004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -179.91690187453625, + 254.21927407292708, + -16.289232518776004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -179.91690187453625, + 251.21927407292708, + -16.289232518776004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -179.91690187453625, + 248.21927407292708, + -16.289232518776004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -179.91690187453625, + 245.21927407292708, + -16.289232518776004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -179.91690187453625, + 242.21927407292708, + -16.289232518776004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -179.91690187453625, + 239.21927407292708, + -16.289232518776004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -179.91690187453625, + 236.21927407292708, + -16.289232518776004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -179.91690187453625, + 233.21927407292708, + -16.289232518776004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -179.91690187453625, + 230.21927407292708, + -16.289232518776004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -179.91690187453625, + 227.21927407292708, + -16.289232518776004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -179.91690187453625, + 224.21927407292708, + -16.289232518776004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -179.91690187453625, + 221.21927407292708, + -16.289232518776004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -179.91690187453625, + 218.21927407292708, + -16.289232518776004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -179.91690187453625, + 215.21927407292708, + -16.289232518776004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -179.91690187453625, + 212.21927407292708, + -16.289232518776004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -179.91690187453625, + 209.21927407292708, + -16.289232518776004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -179.91690187453625, + 206.21927407292708, + -16.289232518776004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -179.91690187453625, + 203.21927407292708, + -16.289232518776004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -179.91690187453625, + 200.21927407292708, + -16.289232518776004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -179.91690187453625, + 197.21927407292708, + -16.289232518776004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -179.91690187453625, + 194.21927407292708, + -16.289232518776004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -179.91690187453625, + 191.21927407292708, + -16.289232518776004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -179.91690187453625, + 188.21927407292708, + -16.289232518776004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + }, + "objects": [] +} +{ + "action": { + "imageid": 28, + "pos": [ + -179.91690187453625, + 188.21927407292708, + -16.289232518776004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -179.91690187453625, + 188.21927407292708, + -16.289232518776004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -182.51497808588957, + 186.71927407292708, + -16.289232518776004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -185.11305429724288, + 185.21927407292708, + -16.289232518776004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -187.7111305085962, + 183.71927407292708, + -16.289232518776004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -190.30920671994951, + 182.21927407292708, + -16.289232518776004 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + }, + "objects": [] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_10-9-7_14989683/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_10-9-7_14989683/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a52c8156e6948527eacf4ebc833aac8445089add --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_10-9-7_14989683/pose.jsonl @@ -0,0 +1,1507 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -614.2445618036195, + 54.69825464046089, + -20.598606657929842 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [] +} +{ + "action": { + "imageid": 1, + "pos": [ + -614.2445618036195, + 57.69825464046089, + -20.598606657929842 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [] +} +{ + "action": { + "imageid": 2, + "pos": [ + -614.2445618036195, + 60.69825464046089, + -20.598606657929842 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [] +} +{ + "action": { + "imageid": 3, + "pos": [ + -614.2445618036195, + 63.69825464046089, + -20.598606657929842 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [] +} +{ + "action": { + "imageid": 4, + "pos": [ + -614.2445618036195, + 66.69825464046089, + -20.598606657929842 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [] +} +{ + "action": { + "imageid": 5, + "pos": [ + -614.2445618036195, + 69.69825464046089, + -20.598606657929842 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [] +} +{ + "action": { + "imageid": 6, + "pos": [ + -614.2445618036195, + 72.69825464046089, + -20.598606657929842 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -614.2445618036195, + 75.69825464046089, + -20.598606657929842 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -614.2445618036195, + 78.69825464046089, + -20.598606657929842 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -614.2445618036195, + 81.69825464046089, + -20.598606657929842 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -614.2445618036195, + 84.69825464046089, + -20.598606657929842 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -614.2445618036195, + 87.69825464046089, + -20.598606657929842 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -614.2445618036195, + 90.69825464046089, + -20.598606657929842 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -614.2445618036195, + 93.69825464046089, + -20.598606657929842 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -614.2445618036195, + 96.69825464046089, + -20.598606657929842 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -614.2445618036195, + 99.69825464046089, + -20.598606657929842 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -614.2445618036195, + 102.69825464046089, + -20.598606657929842 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -614.2445618036195, + 105.69825464046089, + -20.598606657929842 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -614.2445618036195, + 108.69825464046089, + -20.598606657929842 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -614.2445618036195, + 111.69825464046089, + -20.598606657929842 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -614.2445618036195, + 111.69825464046089, + -20.598606657929842 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -615.7445618036195, + 114.2963308518142, + -20.598606657929842 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -617.2445618036195, + 116.89440706316752, + -20.598606657929842 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -618.7445618036195, + 119.49248327452084, + -20.598606657929842 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -620.2445618036195, + 122.09055948587415, + -20.598606657929842 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -621.7445618036195, + 124.68863569722747, + -20.598606657929842 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -623.2445618036195, + 127.28671190858078, + -20.598606657929842 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -624.7445618036195, + 129.88478811993411, + -20.598606657929842 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393193 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -626.2445618036195, + 132.48286433128743, + -20.598606657929842 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -627.7445618036195, + 135.08094054264075, + -20.598606657929842 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -629.2445618036195, + 137.67901675399406, + -20.598606657929842 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -630.7445618036195, + 140.27709296534738, + -20.598606657929842 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -632.2445618036195, + 142.8751691767007, + -20.598606657929842 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -633.7445618036195, + 145.473245388054, + -20.598606657929842 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -635.2445618036195, + 148.07132159940733, + -20.598606657929842 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -636.7445618036195, + 150.66939781076064, + -20.598606657929842 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -638.2445618036195, + 153.26747402211396, + -20.598606657929842 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -639.7445618036195, + 155.86555023346727, + -20.598606657929842 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -641.2445618036195, + 158.4636264448206, + -20.598606657929842 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 39, + "pos": [ + -641.2445618036195, + 158.4636264448206, + -20.598606657929842 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 40, + "pos": [ + -641.2445618036195, + 161.4636264448206, + -20.598606657929842 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_11-10-21_1735079296/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_11-10-21_1735079296/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b91d02cde0368c863cec60adf83718e37f4e3990 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_11-10-21_1735079296/pose.jsonl @@ -0,0 +1,1008 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 180.59000915019323, + 325.3069680921923, + -23.568178547562876 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 176.12223529815674, + 236.40146827697754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + 179.09000915019323, + 322.70889188083896, + -23.568178547562876 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 176.12223529815674, + 236.40146827697754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + 177.59000915019323, + 320.11081566948565, + -23.568178547562876 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 176.12223529815674, + 236.40146827697754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + 176.09000915019323, + 317.51273945813233, + -23.568178547562876 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 176.12223529815674, + 236.40146827697754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + 174.59000915019323, + 314.914663246779, + -23.568178547562876 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 176.12223529815674, + 236.40146827697754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + 173.09000915019323, + 312.3165870354257, + -23.568178547562876 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 176.12223529815674, + 236.40146827697754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + 171.59000915019323, + 309.7185108240724, + -23.568178547562876 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 176.12223529815674, + 236.40146827697754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + 170.09000915019323, + 307.12043461271907, + -23.568178547562876 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 176.12223529815674, + 236.40146827697754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + 168.59000915019323, + 304.52235840136575, + -23.568178547562876 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 176.12223529815674, + 236.40146827697754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + 167.09000915019323, + 301.92428219001243, + -23.568178547562876 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 176.12223529815674, + 236.40146827697754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + 165.59000915019323, + 299.3262059786591, + -23.568178547562876 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 176.12223529815674, + 236.40146827697754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + 164.09000915019323, + 296.7281297673058, + -23.568178547562876 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 176.12223529815674, + 236.40146827697754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + 162.59000915019323, + 294.1300535559525, + -23.568178547562876 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 176.12223529815674, + 236.40146827697754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + 161.09000915019323, + 291.53197734459917, + -23.568178547562876 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 176.12223529815674, + 236.40146827697754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + 159.59000915019323, + 288.93390113324585, + -23.568178547562876 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + 158.09000915019323, + 286.33582492189254, + -23.568178547562876 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + 156.59000915019323, + 283.7377487105392, + -23.568178547562876 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + 155.09000915019323, + 281.1396724991859, + -23.568178547562876 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + 153.59000915019323, + 278.5415962878326, + -23.568178547562876 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + 152.09000915019323, + 275.9435200764793, + -23.568178547562876 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + 150.59000915019323, + 273.34544386512596, + -23.568178547562876 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + 149.09000915019323, + 270.74736765377264, + -23.568178547562876 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + 147.59000915019323, + 268.1492914424193, + -23.568178547562876 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + 146.09000915019323, + 265.551215231066, + -23.568178547562876 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + 146.09000915019323, + 265.551215231066, + -23.568178547562876 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + 143.4919329388399, + 264.051215231066, + -23.568178547562876 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + 140.8938567274866, + 262.551215231066, + -23.568178547562876 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + 138.29578051613328, + 261.051215231066, + -23.568178547562876 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + 135.69770430477996, + 259.551215231066, + -23.568178547562876 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_11-26-16_1579068977/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_11-26-16_1579068977/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fedef8741feecccdc577f93541912871c7bc3f0f --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_11-26-16_1579068977/pose.jsonl @@ -0,0 +1,2022 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -930.5544090446617, + 546.1817792070599, + -21.97470745439057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -927.5544090446617, + 546.1817792070599, + -21.97470745439057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -924.5544090446617, + 546.1817792070599, + -21.97470745439057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -921.5544090446617, + 546.1817792070599, + -21.97470745439057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -918.5544090446617, + 546.1817792070599, + -21.97470745439057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -915.5544090446617, + 546.1817792070599, + -21.97470745439057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -912.5544090446617, + 546.1817792070599, + -21.97470745439057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -909.5544090446617, + 546.1817792070599, + -21.97470745439057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -906.5544090446617, + 546.1817792070599, + -21.97470745439057 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -906.5544090446617, + 546.1817792070599, + -21.97470745439057 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -903.9563328333084, + 544.6817792070599, + -21.97470745439057 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -901.358256621955, + 543.1817792070599, + -21.97470745439057 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -898.7601804106016, + 541.6817792070599, + -21.97470745439057 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -896.1621041992482, + 540.1817792070599, + -21.97470745439057 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -893.5640279878949, + 538.6817792070599, + -21.97470745439057 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -890.9659517765415, + 537.1817792070599, + -21.97470745439057 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -888.3678755651881, + 535.6817792070599, + -21.97470745439057 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -885.7697993538347, + 534.1817792070599, + -21.97470745439057 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -883.1717231424814, + 532.6817792070599, + -21.97470745439057 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -880.573646931128, + 531.1817792070599, + -21.97470745439057 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -877.9755707197746, + 529.6817792070599, + -21.97470745439057 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -875.3774945084213, + 528.1817792070599, + -21.97470745439057 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -872.7794182970679, + 526.6817792070599, + -21.97470745439057 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -870.1813420857145, + 525.1817792070599, + -21.97470745439057 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -867.5832658743611, + 523.6817792070599, + -21.97470745439057 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -864.9851896630078, + 522.1817792070599, + -21.97470745439057 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -862.3871134516544, + 520.6817792070599, + -21.97470745439057 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -859.789037240301, + 519.1817792070599, + -21.97470745439057 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -857.1909610289476, + 517.6817792070599, + -21.97470745439057 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -854.5928848175943, + 516.1817792070599, + -21.97470745439057 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -851.9948086062409, + 514.6817792070599, + -21.97470745439057 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -849.3967323948875, + 513.1817792070599, + -21.97470745439057 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -846.7986561835341, + 511.6817792070599, + -21.97470745439057 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -844.2005799721808, + 510.1817792070599, + -21.97470745439057 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -841.6025037608274, + 508.6817792070599, + -21.97470745439057 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -841.6025037608274, + 508.6817792070599, + -21.97470745439057 + ], + "type": "go straight", + "value": 3, + "yaw": 9.43689570931383e-15 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -838.6025037608274, + 508.6817792070599, + -21.97470745439057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -835.6025037608274, + 508.6817792070599, + -21.97470745439057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -832.6025037608274, + 508.6817792070599, + -21.97470745439057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 39, + "pos": [ + -829.6025037608274, + 508.6817792070599, + -21.97470745439057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 40, + "pos": [ + -826.6025037608274, + 508.6817792070599, + -21.97470745439057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 41, + "pos": [ + -823.6025037608274, + 508.6817792070599, + -21.97470745439057 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_11-33-29_719885386/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_11-33-29_719885386/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8a08bb8a3856b6498ae7a3e2da20f99426982399 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_11-33-29_719885386/pose.jsonl @@ -0,0 +1,2205 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -364.912575785261, + 552.6611229497249, + -27.151233414494307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -364.912575785261, + 555.6611229497249, + -27.151233414494307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -364.912575785261, + 558.6611229497249, + -27.151233414494307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -364.912575785261, + 561.6611229497249, + -27.151233414494307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -364.912575785261, + 564.6611229497249, + -27.151233414494307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -364.912575785261, + 567.6611229497249, + -27.151233414494307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -364.912575785261, + 570.6611229497249, + -27.151233414494307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -364.912575785261, + 573.6611229497249, + -27.151233414494307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -364.912575785261, + 576.6611229497249, + -27.151233414494307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -364.912575785261, + 579.6611229497249, + -27.151233414494307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -364.912575785261, + 582.6611229497249, + -27.151233414494307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -364.912575785261, + 585.6611229497249, + -27.151233414494307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -364.912575785261, + 588.6611229497249, + -27.151233414494307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -364.912575785261, + 591.6611229497249, + -27.151233414494307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -364.912575785261, + 594.6611229497249, + -27.151233414494307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -364.912575785261, + 597.6611229497249, + -27.151233414494307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -364.912575785261, + 600.6611229497249, + -27.151233414494307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -364.912575785261, + 603.6611229497249, + -27.151233414494307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -364.912575785261, + 606.6611229497249, + -27.151233414494307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -364.912575785261, + 609.6611229497249, + -27.151233414494307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -364.912575785261, + 612.6611229497249, + -27.151233414494307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -364.912575785261, + 615.6611229497249, + -27.151233414494307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -364.912575785261, + 618.6611229497249, + -27.151233414494307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -364.912575785261, + 621.6611229497249, + -27.151233414494307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -364.912575785261, + 624.6611229497249, + -27.151233414494307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -364.912575785261, + 627.6611229497249, + -27.151233414494307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -364.912575785261, + 630.6611229497249, + -27.151233414494307 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -364.912575785261, + 630.6611229497249, + -27.151233414494307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -363.412575785261, + 633.2591991610782, + -27.151233414494307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -361.912575785261, + 635.8572753724316, + -27.151233414494307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -360.412575785261, + 638.4553515837849, + -27.151233414494307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -358.912575785261, + 641.0534277951383, + -27.151233414494307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -357.412575785261, + 643.6515040064917, + -27.151233414494307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -355.912575785261, + 646.249580217845, + -27.151233414494307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -354.412575785261, + 648.8476564291984, + -27.151233414494307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -352.912575785261, + 651.4457326405518, + -27.151233414494307 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_11-39-6_1102520059/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_11-39-6_1102520059/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..23615d46c5bca4b5196d505637d9af7300fa6d71 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_11-39-6_1102520059/pose.jsonl @@ -0,0 +1,1436 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -220.45771134940406, + 496.17384614874675, + -28.88739963808154 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -220.45771134940406, + 499.17384614874675, + -28.88739963808154 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -220.45771134940406, + 502.17384614874675, + -28.88739963808154 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -220.45771134940406, + 505.17384614874675, + -28.88739963808154 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -220.45771134940406, + 508.17384614874675, + -28.88739963808154 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -220.45771134940406, + 511.17384614874675, + -28.88739963808154 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -220.45771134940406, + 514.1738461487467, + -28.88739963808154 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -220.45771134940406, + 517.1738461487467, + -28.88739963808154 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -220.45771134940406, + 520.1738461487467, + -28.88739963808154 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -220.45771134940406, + 523.1738461487467, + -28.88739963808154 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -220.45771134940406, + 526.1738461487467, + -28.88739963808154 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -220.45771134940406, + 529.1738461487467, + -28.88739963808154 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -220.45771134940406, + 532.1738461487467, + -28.88739963808154 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -220.45771134940406, + 535.1738461487467, + -28.88739963808154 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -220.45771134940406, + 538.1738461487467, + -28.88739963808154 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -220.45771134940406, + 541.1738461487467, + -28.88739963808154 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -220.45771134940406, + 544.1738461487467, + -28.88739963808154 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -220.45771134940406, + 547.1738461487467, + -28.88739963808154 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -220.45771134940406, + 550.1738461487467, + -28.88739963808154 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -220.45771134940406, + 550.1738461487467, + -28.88739963808154 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -218.95771134940406, + 552.7719223601, + -28.88739963808154 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -217.45771134940406, + 555.3699985714534, + -28.88739963808154 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -215.95771134940406, + 557.9680747828068, + -28.88739963808154 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -214.45771134940406, + 560.5661509941601, + -28.88739963808154 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -212.95771134940406, + 563.1642272055135, + -28.88739963808154 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -211.45771134940406, + 565.7623034168669, + -28.88739963808154 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -209.95771134940406, + 568.3603796282202, + -28.88739963808154 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -208.45771134940406, + 570.9584558395736, + -28.88739963808154 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [] +} +{ + "action": { + "imageid": 28, + "pos": [ + -206.95771134940406, + 573.556532050927, + -28.88739963808154 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [] +} +{ + "action": { + "imageid": 29, + "pos": [ + -205.45771134940406, + 576.1546082622804, + -28.88739963808154 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + }, + "objects": [] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_11-5-7_1240554603/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_11-5-7_1240554603/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..254ea3258946f448f4c549106aae9c5226e55457 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_11-5-7_1240554603/pose.jsonl @@ -0,0 +1,1155 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -678.7150325690477, + 390.7394486906148, + -23.651180806239886 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -675.7150325690477, + 390.7394486906148, + -23.651180806239886 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -672.7150325690477, + 390.7394486906148, + -23.651180806239886 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -669.7150325690477, + 390.7394486906148, + -23.651180806239886 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -666.7150325690477, + 390.7394486906148, + -23.651180806239886 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -663.7150325690477, + 390.7394486906148, + -23.651180806239886 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -660.7150325690477, + 390.7394486906148, + -23.651180806239886 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -657.7150325690477, + 390.7394486906148, + -23.651180806239886 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -654.7150325690477, + 390.7394486906148, + -23.651180806239886 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -651.7150325690477, + 390.7394486906148, + -23.651180806239886 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -648.7150325690477, + 390.7394486906148, + -23.651180806239886 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -645.7150325690477, + 390.7394486906148, + -23.651180806239886 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -642.7150325690477, + 390.7394486906148, + -23.651180806239886 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -639.7150325690477, + 390.7394486906148, + -23.651180806239886 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -636.7150325690477, + 390.7394486906148, + -23.651180806239886 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -633.7150325690477, + 390.7394486906148, + -23.651180806239886 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -630.7150325690477, + 390.7394486906148, + -23.651180806239886 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -627.7150325690477, + 390.7394486906148, + -23.651180806239886 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -624.7150325690477, + 390.7394486906148, + -23.651180806239886 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -621.7150325690477, + 390.7394486906148, + -23.651180806239886 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -618.7150325690477, + 390.7394486906148, + -23.651180806239886 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -615.7150325690477, + 390.7394486906148, + -23.651180806239886 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -612.7150325690477, + 390.7394486906148, + -23.651180806239886 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -609.7150325690477, + 390.7394486906148, + -23.651180806239886 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -606.7150325690477, + 390.7394486906148, + -23.651180806239886 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -603.7150325690477, + 390.7394486906148, + -23.651180806239886 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -600.7150325690477, + 390.7394486906148, + -23.651180806239886 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -597.7150325690477, + 390.7394486906148, + -23.651180806239886 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -594.7150325690477, + 390.7394486906148, + -23.651180806239886 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -591.7150325690477, + 390.7394486906148, + -23.651180806239886 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -588.7150325690477, + 390.7394486906148, + -23.651180806239886 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_11-7-18_1694887982/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_11-7-18_1694887982/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..907eebcdb43c844b009d74de52e7683e973e9997 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_11-7-18_1694887982/pose.jsonl @@ -0,0 +1,1022 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -194.32637537159832, + -43.35477699800238, + -2.6460376401727075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -191.32637537159832, + -43.35477699800238, + -2.6460376401727075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -188.32637537159832, + -43.35477699800238, + -2.6460376401727075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -185.32637537159832, + -43.35477699800238, + -2.6460376401727075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -182.32637537159832, + -43.35477699800238, + -2.6460376401727075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -179.32637537159832, + -43.35477699800238, + -2.6460376401727075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -176.32637537159832, + -43.35477699800238, + -2.6460376401727075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -173.32637537159832, + -43.35477699800238, + -2.6460376401727075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -170.32637537159832, + -43.35477699800238, + -2.6460376401727075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -167.32637537159832, + -43.35477699800238, + -2.6460376401727075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -164.32637537159832, + -43.35477699800238, + -2.6460376401727075 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -164.32637537159832, + -43.35477699800238, + -2.6460376401727075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -161.728299160245, + -41.85477699800238, + -2.6460376401727075 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -161.728299160245, + -41.85477699800238, + -2.6460376401727075 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -160.228299160245, + -39.25670078664906, + -2.6460376401727075 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -158.728299160245, + -36.65862457529575, + -2.6460376401727075 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -158.728299160245, + -36.65862457529575, + -2.6460376401727075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -156.13022294889169, + -35.15862457529575, + -2.6460376401727075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -153.53214673753837, + -33.65862457529575, + -2.6460376401727075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -150.93407052618505, + -32.15862457529575, + -2.6460376401727075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -148.33599431483174, + -30.658624575295747, + -2.6460376401727075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -145.73791810347842, + -29.158624575295747, + -2.6460376401727075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -143.1398418921251, + -27.658624575295747, + -2.6460376401727075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -140.5417656807718, + -26.158624575295747, + -2.6460376401727075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -137.94368946941847, + -24.658624575295747, + -2.6460376401727075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -135.34561325806516, + -23.158624575295747, + -2.6460376401727075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -132.74753704671184, + -21.658624575295747, + -2.6460376401727075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -130.14946083535852, + -20.158624575295747, + -2.6460376401727075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -127.55138462400521, + -18.658624575295747, + -2.6460376401727075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -124.9533084126519, + -17.158624575295747, + -2.6460376401727075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -122.35523220129858, + -15.658624575295747, + -2.6460376401727075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -119.75715598994526, + -14.158624575295747, + -2.6460376401727075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -117.15907977859194, + -12.658624575295747, + -2.6460376401727075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -114.56100356723863, + -11.158624575295747, + -2.6460376401727075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -111.96292735588531, + -9.658624575295747, + -2.6460376401727075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -109.364851144532, + -8.158624575295747, + -2.6460376401727075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [] +} +{ + "action": { + "imageid": 36, + "pos": [ + -106.76677493317868, + -6.658624575295747, + -2.6460376401727075 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + }, + "objects": [] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_12-2-35_1914544919/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_12-2-35_1914544919/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..098c290d4288b962ee71f69eaf7ea0b9928cd0dd --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_12-2-35_1914544919/pose.jsonl @@ -0,0 +1,1949 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -327.51389217650996, + 593.8292876613151, + -24.91119886735467 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -324.91581596515664, + 592.3292876613151, + -24.91119886735467 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -322.3177397538033, + 590.8292876613151, + -24.91119886735467 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -319.71966354245, + 589.3292876613151, + -24.91119886735467 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -317.1215873310967, + 587.8292876613151, + -24.91119886735467 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -314.5235111197434, + 586.3292876613151, + -24.91119886735467 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -311.92543490839006, + 584.8292876613151, + -24.91119886735467 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -309.32735869703674, + 583.3292876613151, + -24.91119886735467 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -306.7292824856834, + 581.8292876613151, + -24.91119886735467 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -304.1312062743301, + 580.3292876613151, + -24.91119886735467 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -301.5331300629768, + 578.8292876613151, + -24.91119886735467 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -298.9350538516235, + 577.3292876613151, + -24.91119886735467 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -296.33697764027016, + 575.8292876613151, + -24.91119886735467 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -293.73890142891685, + 574.3292876613151, + -24.91119886735467 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -291.14082521756353, + 572.8292876613151, + -24.91119886735467 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -288.5427490062102, + 571.3292876613151, + -24.91119886735467 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -285.9446727948569, + 569.8292876613151, + -24.91119886735467 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -283.3465965835036, + 568.3292876613151, + -24.91119886735467 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -280.74852037215027, + 566.8292876613151, + -24.91119886735467 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -278.15044416079695, + 565.3292876613151, + -24.91119886735467 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -275.55236794944364, + 563.8292876613151, + -24.91119886735467 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -272.9542917380903, + 562.3292876613151, + -24.91119886735467 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -270.356215526737, + 560.8292876613151, + -24.91119886735467 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -267.7581393153837, + 559.3292876613151, + -24.91119886735467 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -265.16006310403037, + 557.8292876613151, + -24.91119886735467 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -262.56198689267706, + 556.3292876613151, + -24.91119886735467 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -259.96391068132374, + 554.8292876613151, + -24.91119886735467 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -257.3658344699704, + 553.3292876613151, + -24.91119886735467 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -254.7677582586171, + 551.8292876613151, + -24.91119886735467 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -252.1696820472638, + 550.3292876613151, + -24.91119886735467 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -249.57160583591047, + 548.8292876613151, + -24.91119886735467 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -246.97352962455716, + 547.3292876613151, + -24.91119886735467 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -244.37545341320384, + 545.8292876613151, + -24.91119886735467 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -241.77737720185053, + 544.3292876613151, + -24.91119886735467 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -239.1793009904972, + 542.8292876613151, + -24.91119886735467 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -236.5812247791439, + 541.3292876613151, + -24.91119886735467 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -233.98314856779058, + 539.8292876613151, + -24.91119886735467 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -231.38507235643726, + 538.3292876613151, + -24.91119886735467 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_12-3-23_608413784/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_12-3-23_608413784/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b2ae2938f8fe826db0bf77d83c4eb99f3760a5d5 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_12-3-23_608413784/pose.jsonl @@ -0,0 +1,1339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 142.4431750377883, + 234.88844741026764, + -18.283659941969137 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + 140.9431750377883, + 237.48652362162096, + -18.283659941969137 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + 139.4431750377883, + 240.08459983297428, + -18.283659941969137 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + 137.9431750377883, + 242.6826760443276, + -18.283659941969137 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + 136.4431750377883, + 245.2807522556809, + -18.283659941969137 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + 134.9431750377883, + 247.87882846703423, + -18.283659941969137 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + 133.4431750377883, + 250.47690467838754, + -18.283659941969137 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + 131.9431750377883, + 253.07498088974086, + -18.283659941969137 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + 130.4431750377883, + 255.67305710109417, + -18.283659941969137 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + 128.9431750377883, + 258.2711333124475, + -18.283659941969137 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + 127.44317503778831, + 260.8692095238008, + -18.283659941969137 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + 125.94317503778831, + 263.4672857351541, + -18.283659941969137 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + 124.44317503778831, + 266.06536194650744, + -18.283659941969137 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + 122.94317503778831, + 268.66343815786075, + -18.283659941969137 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + 122.94317503778831, + 268.66343815786075, + -18.283659941969137 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + 120.34509882643499, + 270.16343815786075, + -18.283659941969137 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + 117.74702261508168, + 271.66343815786075, + -18.283659941969137 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + 115.14894640372836, + 273.16343815786075, + -18.283659941969137 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + 112.55087019237504, + 274.66343815786075, + -18.283659941969137 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + 109.95279398102173, + 276.16343815786075, + -18.283659941969137 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + 107.35471776966841, + 277.66343815786075, + -18.283659941969137 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + 104.7566415583151, + 279.16343815786075, + -18.283659941969137 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + 102.15856534696178, + 280.66343815786075, + -18.283659941969137 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + 99.56048913560846, + 282.16343815786075, + -18.283659941969137 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + 99.56048913560846, + 282.16343815786075, + -18.283659941969137 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + 98.06048913560846, + 284.76151436921407, + -18.283659941969137 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + 96.56048913560846, + 287.3595905805674, + -18.283659941969137 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + 95.06048913560846, + 289.9576667919207, + -18.283659941969137 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + 93.56048913560846, + 292.555743003274, + -18.283659941969137 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + 92.06048913560846, + 295.15381921462733, + -18.283659941969137 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + 90.56048913560846, + 297.75189542598065, + -18.283659941969137 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + 89.06048913560846, + 300.34997163733397, + -18.283659941969137 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_12-39-35_1411549676/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_12-39-35_1411549676/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..79e274cf2fc79087cec77c867f9d67bf57d0b1c6 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_12-39-35_1411549676/pose.jsonl @@ -0,0 +1,1644 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -322.14379212040717, + 674.1318895624186, + -18.41323840695319 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -322.14379212040717, + 671.1318895624186, + -18.41323840695319 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -322.14379212040717, + 668.1318895624186, + -18.41323840695319 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -322.14379212040717, + 665.1318895624186, + -18.41323840695319 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -322.14379212040717, + 662.1318895624186, + -18.41323840695319 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -322.14379212040717, + 659.1318895624186, + -18.41323840695319 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -322.14379212040717, + 656.1318895624186, + -18.41323840695319 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -322.14379212040717, + 653.1318895624186, + -18.41323840695319 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -322.14379212040717, + 650.1318895624186, + -18.41323840695319 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -322.14379212040717, + 647.1318895624186, + -18.41323840695319 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -322.14379212040717, + 644.1318895624186, + -18.41323840695319 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -322.14379212040717, + 641.1318895624186, + -18.41323840695319 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -322.14379212040717, + 638.1318895624186, + -18.41323840695319 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -322.14379212040717, + 635.1318895624186, + -18.41323840695319 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -322.14379212040717, + 632.1318895624186, + -18.41323840695319 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -322.14379212040717, + 629.1318895624186, + -18.41323840695319 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -322.14379212040717, + 626.1318895624186, + -18.41323840695319 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -322.14379212040717, + 623.1318895624186, + -18.41323840695319 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -322.14379212040717, + 620.1318895624186, + -18.41323840695319 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -322.14379212040717, + 617.1318895624186, + -18.41323840695319 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -322.14379212040717, + 614.1318895624186, + -18.41323840695319 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -322.14379212040717, + 611.1318895624186, + -18.41323840695319 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -322.14379212040717, + 608.1318895624186, + -18.41323840695319 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -322.14379212040717, + 605.1318895624186, + -18.41323840695319 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -322.14379212040717, + 602.1318895624186, + -18.41323840695319 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -322.14379212040717, + 599.1318895624186, + -18.41323840695319 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -322.14379212040717, + 596.1318895624186, + -18.41323840695319 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -322.14379212040717, + 596.1318895624186, + -18.41323840695319 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -322.14379212040717, + 596.1318895624186, + -18.41323840695319 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982989 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -319.54571590905385, + 594.6318895624186, + -18.41323840695319 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -316.94763969770054, + 593.1318895624186, + -18.41323840695319 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -314.3495634863472, + 591.6318895624186, + -18.41323840695319 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -314.3495634863472, + 591.6318895624186, + -18.41323840695319 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -312.8495634863472, + 589.0338133510652, + -18.41323840695319 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -311.3495634863472, + 586.4357371397118, + -18.41323840695319 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_12-40-20_1843993368/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_12-40-20_1843993368/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..692cd759229f3dfe5b57b597c98c99c75a21da79 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_12-40-20_1843993368/pose.jsonl @@ -0,0 +1,1234 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -440.2288140202787, + 320.6151744059313, + -4.922957286588083 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -437.2288140202787, + 320.6151744059313, + -4.922957286588083 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -434.2288140202787, + 320.6151744059313, + -4.922957286588083 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -335.2635250091553, + 293.34011459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -431.2288140202787, + 320.6151744059313, + -4.922957286588083 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -335.2635250091553, + 293.34011459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -428.2288140202787, + 320.6151744059313, + -4.922957286588083 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -335.2635250091553, + 293.34011459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -425.2288140202787, + 320.6151744059313, + -4.922957286588083 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -335.2635250091553, + 293.34011459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -422.2288140202787, + 320.6151744059313, + -4.922957286588083 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -335.2635250091553, + 293.34011459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -419.2288140202787, + 320.6151744059313, + -4.922957286588083 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -335.2635250091553, + 293.34011459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -416.2288140202787, + 320.6151744059313, + -4.922957286588083 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -335.2635250091553, + 293.34011459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -413.2288140202787, + 320.6151744059313, + -4.922957286588083 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -335.2635250091553, + 293.34011459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -410.2288140202787, + 320.6151744059313, + -4.922957286588083 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -335.2635250091553, + 293.34011459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -407.2288140202787, + 320.6151744059313, + -4.922957286588083 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -335.2635250091553, + 293.34011459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -404.2288140202787, + 320.6151744059313, + -4.922957286588083 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -335.2635250091553, + 293.34011459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -401.2288140202787, + 320.6151744059313, + -4.922957286588083 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -335.2635250091553, + 293.34011459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -398.2288140202787, + 320.6151744059313, + -4.922957286588083 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -335.2635250091553, + 293.34011459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -395.2288140202787, + 320.6151744059313, + -4.922957286588083 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -335.2635250091553, + 293.34011459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -392.2288140202787, + 320.6151744059313, + -4.922957286588083 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -335.2635250091553, + 293.34011459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -389.2288140202787, + 320.6151744059313, + -4.922957286588083 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -335.2635250091553, + 293.34011459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -386.2288140202787, + 320.6151744059313, + -4.922957286588083 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -335.2635250091553, + 293.34011459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -386.2288140202787, + 320.6151744059313, + -4.922957286588083 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -335.2635250091553, + 293.34011459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -383.6307378089254, + 319.1151744059313, + -4.922957286588083 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -335.2635250091553, + 293.34011459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -381.0326615975721, + 317.6151744059313, + -4.922957286588083 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -335.2635250091553, + 293.34011459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -378.43458538621877, + 316.1151744059313, + -4.922957286588083 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -335.2635250091553, + 293.34011459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -375.83650917486545, + 314.6151744059313, + -4.922957286588083 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -335.2635250091553, + 293.34011459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -373.23843296351214, + 313.1151744059313, + -4.922957286588083 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -335.2635250091553, + 293.34011459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -370.6403567521588, + 311.6151744059313, + -4.922957286588083 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -335.2635250091553, + 293.34011459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -368.0422805408055, + 310.1151744059313, + -4.922957286588083 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -335.2635250091553, + 293.34011459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -365.4442043294522, + 308.6151744059313, + -4.922957286588083 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -335.2635250091553, + 293.34011459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -362.8461281180989, + 307.1151744059313, + -4.922957286588083 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -335.2635250091553, + 293.34011459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -360.24805190674556, + 305.6151744059313, + -4.922957286588083 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -335.2635250091553, + 293.34011459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -357.64997569539224, + 304.1151744059313, + -4.922957286588083 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -335.2635250091553, + 293.34011459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -355.0518994840389, + 302.6151744059313, + -4.922957286588083 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -335.2635250091553, + 293.34011459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -352.4538232726856, + 301.1151744059313, + -4.922957286588083 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -335.2635250091553, + 293.34011459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -349.8557470613323, + 299.6151744059313, + -4.922957286588083 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -335.2635250091553, + 293.34011459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -347.257670849979, + 298.1151744059313, + -4.922957286588083 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -335.2635250091553, + 293.34011459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -344.65959463862566, + 296.6151744059313, + -4.922957286588083 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -335.2635250091553, + 293.34011459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -342.06151842727235, + 295.1151744059313, + -4.922957286588083 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -335.2635250091553, + 293.34011459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -339.46344221591903, + 293.6151744059313, + -4.922957286588083 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [] +} +{ + "action": { + "imageid": 38, + "pos": [ + -336.8653660045657, + 292.1151744059313, + -4.922957286588083 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + }, + "objects": [] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -335.2635250091553, + 293.34011459350586, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_13-15-20_1600028624/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_13-15-20_1600028624/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..64c8e4b2e10ea0e8ead7c61cdeb413c4f77db745 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_13-15-20_1600028624/pose.jsonl @@ -0,0 +1,1120 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -190.5564165177571, + -89.03122304946315, + -17.655366281717058 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [] +} +{ + "action": { + "imageid": 1, + "pos": [ + -187.95834030640378, + -87.53122304946315, + -17.655366281717058 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [] +} +{ + "action": { + "imageid": 2, + "pos": [ + -185.36026409505047, + -86.03122304946315, + -17.655366281717058 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [] +} +{ + "action": { + "imageid": 3, + "pos": [ + -182.76218788369715, + -84.53122304946315, + -17.655366281717058 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [] +} +{ + "action": { + "imageid": 4, + "pos": [ + -180.16411167234384, + -83.03122304946315, + -17.655366281717058 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [] +} +{ + "action": { + "imageid": 5, + "pos": [ + -177.56603546099052, + -81.53122304946315, + -17.655366281717058 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [] +} +{ + "action": { + "imageid": 6, + "pos": [ + -174.9679592496372, + -80.03122304946315, + -17.655366281717058 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -172.3698830382839, + -78.53122304946315, + -17.655366281717058 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -169.77180682693057, + -77.03122304946315, + -17.655366281717058 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -167.17373061557726, + -75.53122304946315, + -17.655366281717058 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -164.57565440422394, + -74.03122304946315, + -17.655366281717058 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -161.97757819287062, + -72.53122304946315, + -17.655366281717058 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -159.3795019815173, + -71.03122304946315, + -17.655366281717058 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -156.781425770164, + -69.53122304946315, + -17.655366281717058 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -154.18334955881068, + -68.03122304946315, + -17.655366281717058 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -151.58527334745736, + -66.53122304946315, + -17.655366281717058 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -148.98719713610404, + -65.03122304946315, + -17.655366281717058 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -146.38912092475073, + -63.53122304946315, + -17.655366281717058 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -143.7910447133974, + -62.03122304946315, + -17.655366281717058 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -141.1929685020441, + -60.53122304946315, + -17.655366281717058 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -138.59489229069078, + -59.03122304946315, + -17.655366281717058 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -138.59489229069078, + -59.03122304946315, + -17.655366281717058 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -137.09489229069078, + -56.433146838109835, + -17.655366281717058 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -135.59489229069078, + -53.83507062675652, + -17.655366281717058 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -134.09489229069078, + -51.2369944154032, + -17.655366281717058 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -132.59489229069078, + -48.63891820404989, + -17.655366281717058 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -131.09489229069078, + -46.04084199269657, + -17.655366281717058 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -129.59489229069078, + -43.442765781343255, + -17.655366281717058 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -128.09489229069078, + -40.84468956998994, + -17.655366281717058 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -126.59489229069078, + -38.24661335863662, + -17.655366281717058 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -125.09489229069078, + -35.64853714728331, + -17.655366281717058 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -123.59489229069078, + -33.05046093592999, + -17.655366281717058 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -122.09489229069078, + -30.452384724576675, + -17.655366281717058 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -120.59489229069078, + -27.85430851322336, + -17.655366281717058 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -119.09489229069078, + -25.256232301870043, + -17.655366281717058 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -117.59489229069078, + -22.658156090516727, + -17.655366281717058 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -116.09489229069078, + -20.06007987916341, + -17.655366281717058 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -114.59489229069078, + -17.462003667810094, + -17.655366281717058 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -113.09489229069078, + -14.863927456456778, + -17.655366281717058 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 39, + "pos": [ + -111.59489229069078, + -12.265851245103462, + -17.655366281717058 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 40, + "pos": [ + -110.09489229069078, + -9.667775033750146, + -17.655366281717058 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + }, + "objects": [] +} +{ + "action": { + "imageid": 41, + "pos": [ + -110.09489229069078, + -9.667775033750146, + -17.655366281717058 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 42, + "pos": [ + -107.49681607933746, + -8.167775033750146, + -17.655366281717058 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [] +} +{ + "action": { + "imageid": 43, + "pos": [ + -104.89873986798415, + -6.6677750337501465, + -17.655366281717058 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + }, + "objects": [] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_13-19-53_515530019/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_13-19-53_515530019/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3d918c010ab1fc88e5aad122352218a8f835dd28 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_13-19-53_515530019/pose.jsonl @@ -0,0 +1,1315 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 45.720002038351105, + 592.836766817, + -22.21781966143959 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + 44.220002038351105, + 590.2386906056468, + -22.21781966143959 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + 42.720002038351105, + 587.6406143942934, + -22.21781966143959 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + 41.220002038351105, + 585.04253818294, + -22.21781966143959 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + 39.720002038351105, + 582.4444619715866, + -22.21781966143959 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + 38.220002038351105, + 579.8463857602333, + -22.21781966143959 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + 36.720002038351105, + 577.2483095488799, + -22.21781966143959 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + 35.220002038351105, + 574.6502333375265, + -22.21781966143959 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + 33.720002038351105, + 572.0521571261731, + -22.21781966143959 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + 32.220002038351105, + 569.4540809148198, + -22.21781966143959 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + 30.720002038351105, + 566.8560047034664, + -22.21781966143959 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + 29.220002038351105, + 564.257928492113, + -22.21781966143959 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + 27.720002038351105, + 561.6598522807597, + -22.21781966143959 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + 26.220002038351105, + 559.0617760694063, + -22.21781966143959 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + 24.720002038351105, + 556.4636998580529, + -22.21781966143959 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + 23.220002038351105, + 553.8656236466995, + -22.21781966143959 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + 21.720002038351105, + 551.2675474353462, + -22.21781966143959 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + 20.220002038351105, + 548.6694712239928, + -22.21781966143959 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + 18.720002038351105, + 546.0713950126394, + -22.21781966143959 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + 17.220002038351105, + 543.473318801286, + -22.21781966143959 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + 15.720002038351105, + 540.8752425899327, + -22.21781966143959 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + 14.220002038351105, + 538.2771663785793, + -22.21781966143959 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + 12.720002038351105, + 535.6790901672259, + -22.21781966143959 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + 12.720002038351105, + 535.6790901672259, + -22.21781966143959 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + 10.121925826997789, + 534.1790901672259, + -22.21781966143959 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + 7.5238496156444725, + 532.6790901672259, + -22.21781966143959 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + 4.9257734042911565, + 531.1790901672259, + -22.21781966143959 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + 2.3276971929378405, + 529.6790901672259, + -22.21781966143959 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -0.2703790184154755, + 528.1790901672259, + -22.21781966143959 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -2.8684552297687915, + 526.6790901672259, + -22.21781966143959 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -5.4665314411221075, + 525.1790901672259, + -22.21781966143959 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -5.4665314411221075, + 525.1790901672259, + -22.21781966143959 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -6.966531441122107, + 522.5810139558725, + -22.21781966143959 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_13-2-39_1063958031/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_13-2-39_1063958031/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..09a892bffc4830163a4eee2a9bd0c8e0854ebb82 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_13-2-39_1063958031/pose.jsonl @@ -0,0 +1,952 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 410.078375096973, + 375.79228624079957, + -17.725071241153074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 1, + "pos": [ + 407.4802988856197, + 374.29228624079957, + -17.725071241153074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 2, + "pos": [ + 404.88222267426636, + 372.79228624079957, + -17.725071241153074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 3, + "pos": [ + 402.28414646291304, + 371.29228624079957, + -17.725071241153074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 4, + "pos": [ + 399.6860702515597, + 369.79228624079957, + -17.725071241153074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 305.2144260406494, + 346.83962059020996, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + 397.0879940402064, + 368.29228624079957, + -17.725071241153074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 305.2144260406494, + 346.83962059020996, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + 394.4899178288531, + 366.79228624079957, + -17.725071241153074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 305.2144260406494, + 346.83962059020996, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + 391.8918416174998, + 365.29228624079957, + -17.725071241153074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 305.2144260406494, + 346.83962059020996, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + 389.29376540614646, + 363.79228624079957, + -17.725071241153074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 305.2144260406494, + 346.83962059020996, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + 386.69568919479315, + 362.29228624079957, + -17.725071241153074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 305.2144260406494, + 346.83962059020996, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + 384.09761298343983, + 360.79228624079957, + -17.725071241153074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 305.2144260406494, + 346.83962059020996, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + 381.4995367720865, + 359.29228624079957, + -17.725071241153074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 305.2144260406494, + 346.83962059020996, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + 378.9014605607332, + 357.79228624079957, + -17.725071241153074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 305.2144260406494, + 346.83962059020996, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + 376.3033843493799, + 356.29228624079957, + -17.725071241153074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 305.2144260406494, + 346.83962059020996, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + 373.70530813802657, + 354.79228624079957, + -17.725071241153074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 305.2144260406494, + 346.83962059020996, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + 371.10723192667325, + 353.29228624079957, + -17.725071241153074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 305.2144260406494, + 346.83962059020996, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + 368.50915571531993, + 351.79228624079957, + -17.725071241153074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 305.2144260406494, + 346.83962059020996, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + 365.9110795039666, + 350.29228624079957, + -17.725071241153074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 305.2144260406494, + 346.83962059020996, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + 363.3130032926133, + 348.79228624079957, + -17.725071241153074 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 305.2144260406494, + 346.83962059020996, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + 363.3130032926133, + 348.79228624079957, + -17.725071241153074 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 305.2144260406494, + 346.83962059020996, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + 360.3130032926133, + 348.79228624079957, + -17.725071241153074 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 21, + "pos": [ + 357.3130032926133, + 348.79228624079957, + -17.725071241153074 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 22, + "pos": [ + 354.3130032926133, + 348.79228624079957, + -17.725071241153074 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 23, + "pos": [ + 351.3130032926133, + 348.79228624079957, + -17.725071241153074 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 24, + "pos": [ + 348.3130032926133, + 348.79228624079957, + -17.725071241153074 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 25, + "pos": [ + 345.3130032926133, + 348.79228624079957, + -17.725071241153074 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 26, + "pos": [ + 342.3130032926133, + 348.79228624079957, + -17.725071241153074 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 27, + "pos": [ + 339.3130032926133, + 348.79228624079957, + -17.725071241153074 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 240.78176975250244, + 355.75264739990234, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + 336.3130032926133, + 348.79228624079957, + -17.725071241153074 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 240.78176975250244, + 355.75264739990234, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + 333.3130032926133, + 348.79228624079957, + -17.725071241153074 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 240.78176975250244, + 355.75264739990234, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + 330.3130032926133, + 348.79228624079957, + -17.725071241153074 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 240.78176975250244, + 355.75264739990234, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + 327.3130032926133, + 348.79228624079957, + -17.725071241153074 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 240.78176975250244, + 355.75264739990234, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + 324.3130032926133, + 348.79228624079957, + -17.725071241153074 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 240.78176975250244, + 355.75264739990234, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + 321.3130032926133, + 348.79228624079957, + -17.725071241153074 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 240.78176975250244, + 355.75264739990234, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + 318.3130032926133, + 348.79228624079957, + -17.725071241153074 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 240.78176975250244, + 355.75264739990234, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + 315.3130032926133, + 348.79228624079957, + -17.725071241153074 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 240.78176975250244, + 355.75264739990234, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + 312.3130032926133, + 348.79228624079957, + -17.725071241153074 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 240.78176975250244, + 355.75264739990234, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + 309.3130032926133, + 348.79228624079957, + -17.725071241153074 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 240.78176975250244, + 355.75264739990234, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + 306.3130032926133, + 348.79228624079957, + -17.725071241153074 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 240.78176975250244, + 355.75264739990234, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 305.2144260406494, + 346.83962059020996, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_13-36-42_1957747793/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_13-36-42_1957747793/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2f446ea15bca0623c6dd1eb1c4d1a9559e3401e0 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_13-36-42_1957747793/pose.jsonl @@ -0,0 +1,2732 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -362.01970913380705, + 602.0346032293836, + -27.078093810406635 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -359.01970913380705, + 602.0346032293836, + -27.078093810406635 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -356.01970913380705, + 602.0346032293836, + -27.078093810406635 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -353.01970913380705, + 602.0346032293836, + -27.078093810406635 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -350.01970913380705, + 602.0346032293836, + -27.078093810406635 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -347.01970913380705, + 602.0346032293836, + -27.078093810406635 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -344.01970913380705, + 602.0346032293836, + -27.078093810406635 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -344.01970913380705, + 602.0346032293836, + -27.078093810406635 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -344.01970913380705, + 602.0346032293836, + -27.078093810406635 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -342.51970913380705, + 599.4365270180303, + -27.078093810406635 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -341.01970913380705, + 596.838450806677, + -27.078093810406635 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -339.51970913380705, + 594.2403745953236, + -27.078093810406635 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -339.51970913380705, + 594.2403745953236, + -27.078093810406635 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -336.92163292245374, + 592.7403745953236, + -27.078093810406635 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -334.3235567111004, + 591.2403745953236, + -27.078093810406635 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -331.7254804997471, + 589.7403745953236, + -27.078093810406635 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -329.1274042883938, + 588.2403745953236, + -27.078093810406635 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -326.5293280770405, + 586.7403745953236, + -27.078093810406635 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -323.93125186568716, + 585.2403745953236, + -27.078093810406635 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -321.33317565433384, + 583.7403745953236, + -27.078093810406635 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -318.7350994429805, + 582.2403745953236, + -27.078093810406635 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -316.1370232316272, + 580.7403745953236, + -27.078093810406635 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -313.5389470202739, + 579.2403745953236, + -27.078093810406635 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -310.9408708089206, + 577.7403745953236, + -27.078093810406635 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -308.34279459756726, + 576.2403745953236, + -27.078093810406635 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -305.74471838621395, + 574.7403745953236, + -27.078093810406635 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -303.14664217486063, + 573.2403745953236, + -27.078093810406635 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -300.5485659635073, + 571.7403745953236, + -27.078093810406635 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -297.950489752154, + 570.2403745953236, + -27.078093810406635 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -295.3524135408007, + 568.7403745953236, + -27.078093810406635 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -292.75433732944737, + 567.2403745953236, + -27.078093810406635 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -290.15626111809405, + 565.7403745953236, + -27.078093810406635 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -287.55818490674073, + 564.2403745953236, + -27.078093810406635 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -284.9601086953874, + 562.7403745953236, + -27.078093810406635 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -282.3620324840341, + 561.2403745953236, + -27.078093810406635 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -279.7639562726808, + 559.7403745953236, + -27.078093810406635 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -277.16588006132747, + 558.2403745953236, + -27.078093810406635 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -274.56780384997415, + 556.7403745953236, + -27.078093810406635 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -271.96972763862084, + 555.2403745953236, + -27.078093810406635 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 39, + "pos": [ + -269.3716514272675, + 553.7403745953236, + -27.078093810406635 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 40, + "pos": [ + -266.7735752159142, + 552.2403745953236, + -27.078093810406635 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 41, + "pos": [ + -264.1754990045609, + 550.7403745953236, + -27.078093810406635 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 42, + "pos": [ + -261.5774227932076, + 549.2403745953236, + -27.078093810406635 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 43, + "pos": [ + -261.5774227932076, + 549.2403745953236, + -27.078093810406635 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 44, + "pos": [ + -258.5774227932076, + 549.2403745953236, + -27.078093810406635 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 45, + "pos": [ + -255.57742279320757, + 549.2403745953236, + -27.078093810406635 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_13-41-20_1025202362/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_13-41-20_1025202362/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..99ba33316c3e20aef9b2660642c90cfb7d7208b5 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_13-41-20_1025202362/pose.jsonl @@ -0,0 +1,1624 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -241.31502788875878, + 654.5420167053136, + -22.565631644915197 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -244.31502788875878, + 654.5420167053136, + -22.565631644915197 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -247.31502788875878, + 654.5420167053136, + -22.565631644915197 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -250.31502788875878, + 654.5420167053136, + -22.565631644915197 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -253.31502788875878, + 654.5420167053136, + -22.565631644915197 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -256.3150278887588, + 654.5420167053136, + -22.565631644915197 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -259.3150278887588, + 654.5420167053136, + -22.565631644915197 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -262.3150278887588, + 654.5420167053136, + -22.565631644915197 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -265.3150278887588, + 654.5420167053136, + -22.565631644915197 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -268.3150278887588, + 654.5420167053136, + -22.565631644915197 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -271.3150278887588, + 654.5420167053136, + -22.565631644915197 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -274.3150278887588, + 654.5420167053136, + -22.565631644915197 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -277.3150278887588, + 654.5420167053136, + -22.565631644915197 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -280.3150278887588, + 654.5420167053136, + -22.565631644915197 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -283.3150278887588, + 654.5420167053136, + -22.565631644915197 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -286.3150278887588, + 654.5420167053136, + -22.565631644915197 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -289.3150278887588, + 654.5420167053136, + -22.565631644915197 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -292.3150278887588, + 654.5420167053136, + -22.565631644915197 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -295.3150278887588, + 654.5420167053136, + -22.565631644915197 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -298.3150278887588, + 654.5420167053136, + -22.565631644915197 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -301.3150278887588, + 654.5420167053136, + -22.565631644915197 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -304.3150278887588, + 654.5420167053136, + -22.565631644915197 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -307.3150278887588, + 654.5420167053136, + -22.565631644915197 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -310.3150278887588, + 654.5420167053136, + -22.565631644915197 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -313.3150278887588, + 654.5420167053136, + -22.565631644915197 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -316.3150278887588, + 654.5420167053136, + -22.565631644915197 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -319.3150278887588, + 654.5420167053136, + -22.565631644915197 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -322.3150278887588, + 654.5420167053136, + -22.565631644915197 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -325.3150278887588, + 654.5420167053136, + -22.565631644915197 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -328.3150278887588, + 654.5420167053136, + -22.565631644915197 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -331.3150278887588, + 654.5420167053136, + -22.565631644915197 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -334.3150278887588, + 654.5420167053136, + -22.565631644915197 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -337.3150278887588, + 654.5420167053136, + -22.565631644915197 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -340.3150278887588, + 654.5420167053136, + -22.565631644915197 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -343.3150278887588, + 654.5420167053136, + -22.565631644915197 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -346.3150278887588, + 654.5420167053136, + -22.565631644915197 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -349.3150278887588, + 654.5420167053136, + -22.565631644915197 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -352.3150278887588, + 654.5420167053136, + -22.565631644915197 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_13-46-51_1804289383/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_13-46-51_1804289383/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b19e7f1f03ad79134e66f86493cc5be530a15505 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_13-46-51_1804289383/pose.jsonl @@ -0,0 +1,1103 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -338.7298445542836, + 283.96506563523656, + -9.361667660652799 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -335.2635250091553, + 293.34011459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -338.7298445542836, + 286.96506563523656, + -9.361667660652799 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -335.2635250091553, + 293.34011459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -338.7298445542836, + 289.96506563523656, + -9.361667660652799 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -338.7298445542836, + 292.96506563523656, + -9.361667660652799 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -338.7298445542836, + 295.96506563523656, + -9.361667660652799 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -338.7298445542836, + 298.96506563523656, + -9.361667660652799 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -338.7298445542836, + 301.96506563523656, + -9.361667660652799 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -338.7298445542836, + 304.96506563523656, + -9.361667660652799 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -338.7298445542836, + 307.96506563523656, + -9.361667660652799 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -338.7298445542836, + 310.96506563523656, + -9.361667660652799 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -338.7298445542836, + 313.96506563523656, + -9.361667660652799 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -338.7298445542836, + 316.96506563523656, + -9.361667660652799 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -338.7298445542836, + 319.96506563523656, + -9.361667660652799 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -338.7298445542836, + 322.96506563523656, + -9.361667660652799 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -338.7298445542836, + 325.96506563523656, + -9.361667660652799 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -338.7298445542836, + 328.96506563523656, + -9.361667660652799 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -338.7298445542836, + 331.96506563523656, + -9.361667660652799 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -338.7298445542836, + 334.96506563523656, + -9.361667660652799 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -338.7298445542836, + 337.96506563523656, + -9.361667660652799 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -338.7298445542836, + 340.96506563523656, + -9.361667660652799 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -338.7298445542836, + 343.96506563523656, + -9.361667660652799 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -338.7298445542836, + 346.96506563523656, + -9.361667660652799 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -338.7298445542836, + 349.96506563523656, + -9.361667660652799 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -338.7298445542836, + 352.96506563523656, + -9.361667660652799 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -338.7298445542836, + 355.96506563523656, + -9.361667660652799 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -338.7298445542836, + 355.96506563523656, + -9.361667660652799 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -340.2298445542836, + 358.5631418465899, + -9.361667660652799 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -341.7298445542836, + 361.1612180579432, + -9.361667660652799 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -343.2298445542836, + 363.7592942692965, + -9.361667660652799 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -343.2298445542836, + 363.7592942692965, + -9.361667660652799 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -345.8279207656369, + 365.2592942692965, + -9.361667660652799 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 31, + "pos": [ + -348.42599697699023, + 366.7592942692965, + -9.361667660652799 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + }, + "objects": [] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_13-54-58_336465782/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_13-54-58_336465782/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e9708aa465fc9c17da9324fde2d5a721efaca06e --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_13-54-58_336465782/pose.jsonl @@ -0,0 +1,1201 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -584.6867840735451, + 311.278746230089, + -14.446886038366607 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -582.0887078621918, + 309.778746230089, + -14.446886038366607 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -579.4906316508384, + 308.278746230089, + -14.446886038366607 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -576.892555439485, + 306.778746230089, + -14.446886038366607 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -574.2944792281316, + 305.278746230089, + -14.446886038366607 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -571.6964030167783, + 303.778746230089, + -14.446886038366607 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -569.0983268054249, + 302.278746230089, + -14.446886038366607 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -566.5002505940715, + 300.778746230089, + -14.446886038366607 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -563.9021743827182, + 299.278746230089, + -14.446886038366607 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -561.3040981713648, + 297.778746230089, + -14.446886038366607 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -558.7060219600114, + 296.278746230089, + -14.446886038366607 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -556.107945748658, + 294.778746230089, + -14.446886038366607 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -553.5098695373047, + 293.278746230089, + -14.446886038366607 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -550.9117933259513, + 291.778746230089, + -14.446886038366607 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -548.3137171145979, + 290.278746230089, + -14.446886038366607 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -545.7156409032445, + 288.778746230089, + -14.446886038366607 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -543.1175646918912, + 287.278746230089, + -14.446886038366607 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -540.5194884805378, + 285.778746230089, + -14.446886038366607 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -537.9214122691844, + 284.278746230089, + -14.446886038366607 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -535.323336057831, + 282.778746230089, + -14.446886038366607 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -532.7252598464777, + 281.278746230089, + -14.446886038366607 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -530.1271836351243, + 279.778746230089, + -14.446886038366607 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -530.1271836351243, + 279.778746230089, + -14.446886038366607 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -528.6271836351243, + 277.18067001873567, + -14.446886038366607 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -527.1271836351243, + 274.58259380738235, + -14.446886038366607 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -525.6271836351243, + 271.98451759602904, + -14.446886038366607 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -524.1271836351243, + 269.3864413846757, + -14.446886038366607 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -522.6271836351243, + 266.7883651733224, + -14.446886038366607 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -521.1271836351243, + 264.1902889619691, + -14.446886038366607 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -519.6271836351243, + 261.5922127506158, + -14.446886038366607 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -518.1271836351243, + 258.99413653926246, + -14.446886038366607 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -516.6271836351243, + 256.39606032790914, + -14.446886038366607 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -515.1271836351243, + 253.79798411655582, + -14.446886038366607 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -513.6271836351243, + 251.1999079052025, + -14.446886038366607 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -512.1271836351243, + 248.6018316938492, + -14.446886038366607 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + }, + "objects": [] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_13-55-41_278722862/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_13-55-41_278722862/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f7c2b361258856dde7faf65ddee485116d6bf354 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_13-55-41_278722862/pose.jsonl @@ -0,0 +1,2406 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -385.700981967572, + 598.8078232787921, + -12.11536883792833 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -382.700981967572, + 598.8078232787921, + -12.11536883792833 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -379.700981967572, + 598.8078232787921, + -12.11536883792833 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -376.700981967572, + 598.8078232787921, + -12.11536883792833 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -373.700981967572, + 598.8078232787921, + -12.11536883792833 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -370.700981967572, + 598.8078232787921, + -12.11536883792833 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -367.700981967572, + 598.8078232787921, + -12.11536883792833 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -364.700981967572, + 598.8078232787921, + -12.11536883792833 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -361.700981967572, + 598.8078232787921, + -12.11536883792833 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -358.700981967572, + 598.8078232787921, + -12.11536883792833 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -355.700981967572, + 598.8078232787921, + -12.11536883792833 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -352.700981967572, + 598.8078232787921, + -12.11536883792833 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -349.700981967572, + 598.8078232787921, + -12.11536883792833 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -346.700981967572, + 598.8078232787921, + -12.11536883792833 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -343.700981967572, + 598.8078232787921, + -12.11536883792833 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -340.700981967572, + 598.8078232787921, + -12.11536883792833 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -337.700981967572, + 598.8078232787921, + -12.11536883792833 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -334.700981967572, + 598.8078232787921, + -12.11536883792833 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -331.700981967572, + 598.8078232787921, + -12.11536883792833 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -331.700981967572, + 598.8078232787921, + -12.11536883792833 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -329.10290575621866, + 597.3078232787921, + -12.11536883792833 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -326.50482954486534, + 595.8078232787921, + -12.11536883792833 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -323.90675333351203, + 594.3078232787921, + -12.11536883792833 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -321.3086771221587, + 592.8078232787921, + -12.11536883792833 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -318.7106009108054, + 591.3078232787921, + -12.11536883792833 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -316.1125246994521, + 589.8078232787921, + -12.11536883792833 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -313.51444848809876, + 588.3078232787921, + -12.11536883792833 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -310.91637227674545, + 586.8078232787921, + -12.11536883792833 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -308.31829606539213, + 585.3078232787921, + -12.11536883792833 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -305.7202198540388, + 583.8078232787921, + -12.11536883792833 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -303.1221436426855, + 582.3078232787921, + -12.11536883792833 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -300.5240674313322, + 580.8078232787921, + -12.11536883792833 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -297.92599121997887, + 579.3078232787921, + -12.11536883792833 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -295.32791500862555, + 577.8078232787921, + -12.11536883792833 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -292.72983879727224, + 576.3078232787921, + -12.11536883792833 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -290.1317625859189, + 574.8078232787921, + -12.11536883792833 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -287.5336863745656, + 573.3078232787921, + -12.11536883792833 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -284.9356101632123, + 571.8078232787921, + -12.11536883792833 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -282.337533951859, + 570.3078232787921, + -12.11536883792833 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_13-57-22_1801979802/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_13-57-22_1801979802/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f555c2d7f600fbe70d0e26600d4c5f4915e4863d --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_13-57-22_1801979802/pose.jsonl @@ -0,0 +1,1181 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -456.47157664514884, + 467.8586189971371, + -28.195826236822576 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -459.06965285650216, + 466.3586189971371, + -28.195826236822576 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -461.6677290678555, + 464.8586189971371, + -28.195826236822576 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -464.2658052792088, + 463.3586189971371, + -28.195826236822576 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -466.8638814905621, + 461.8586189971371, + -28.195826236822576 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -469.4619577019154, + 460.3586189971371, + -28.195826236822576 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -472.06003391326874, + 458.8586189971371, + -28.195826236822576 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -474.65811012462206, + 457.3586189971371, + -28.195826236822576 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -477.25618633597537, + 455.8586189971371, + -28.195826236822576 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -479.8542625473287, + 454.3586189971371, + -28.195826236822576 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -482.452338758682, + 452.8586189971371, + -28.195826236822576 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -485.0504149700353, + 451.3586189971371, + -28.195826236822576 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -487.64849118138864, + 449.8586189971371, + -28.195826236822576 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -490.24656739274195, + 448.3586189971371, + -28.195826236822576 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -492.84464360409527, + 446.8586189971371, + -28.195826236822576 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -495.4427198154486, + 445.3586189971371, + -28.195826236822576 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -498.0407960268019, + 443.8586189971371, + -28.195826236822576 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -500.6388722381552, + 442.3586189971371, + -28.195826236822576 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -503.23694844950853, + 440.8586189971371, + -28.195826236822576 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -505.83502466086185, + 439.3586189971371, + -28.195826236822576 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -508.43310087221516, + 437.8586189971371, + -28.195826236822576 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -511.0311770835685, + 436.3586189971371, + -28.195826236822576 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -513.6292532949218, + 434.8586189971371, + -28.195826236822576 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -513.6292532949218, + 434.8586189971371, + -28.195826236822576 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -516.6292532949218, + 434.8586189971371, + -28.195826236822576 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -519.6292532949218, + 434.8586189971371, + -28.195826236822576 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -522.6292532949218, + 434.8586189971371, + -28.195826236822576 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -525.6292532949218, + 434.8586189971371, + -28.195826236822576 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -528.6292532949218, + 434.8586189971371, + -28.195826236822576 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -531.6292532949218, + 434.8586189971371, + -28.195826236822576 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -534.6292532949218, + 434.8586189971371, + -28.195826236822576 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_14-0-21_1131176229/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_14-0-21_1131176229/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..35707d5c599aaa93b2d490a593a7d9f9c8f2dcd6 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_14-0-21_1131176229/pose.jsonl @@ -0,0 +1,1451 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -605.5263933410755, + 505.20575234678125, + -15.526847071400638 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -602.9283171297222, + 503.70575234678125, + -15.526847071400638 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -600.3302409183689, + 502.20575234678125, + -15.526847071400638 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -597.7321647070155, + 500.70575234678125, + -15.526847071400638 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -597.7321647070155, + 500.70575234678125, + -15.526847071400638 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -596.2321647070155, + 498.10767613542794, + -15.526847071400638 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -594.7321647070155, + 495.5095999240746, + -15.526847071400638 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -593.2321647070155, + 492.9115237127213, + -15.526847071400638 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -591.7321647070155, + 490.313447501368, + -15.526847071400638 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -590.2321647070155, + 487.7153712900147, + -15.526847071400638 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -588.7321647070155, + 485.11729507866136, + -15.526847071400638 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -587.2321647070155, + 482.51921886730804, + -15.526847071400638 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -585.7321647070155, + 479.9211426559547, + -15.526847071400638 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -584.2321647070155, + 477.3230664446014, + -15.526847071400638 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -584.2321647070155, + 477.3230664446014, + -15.526847071400638 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -584.2321647070155, + 474.3230664446014, + -15.526847071400638 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -584.2321647070155, + 471.3230664446014, + -15.526847071400638 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -584.2321647070155, + 468.3230664446014, + -15.526847071400638 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -584.2321647070155, + 465.3230664446014, + -15.526847071400638 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -584.2321647070155, + 462.3230664446014, + -15.526847071400638 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -584.2321647070155, + 459.3230664446014, + -15.526847071400638 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -584.2321647070155, + 456.3230664446014, + -15.526847071400638 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -584.2321647070155, + 453.3230664446014, + -15.526847071400638 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -584.2321647070155, + 450.3230664446014, + -15.526847071400638 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -584.2321647070155, + 447.3230664446014, + -15.526847071400638 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -584.2321647070155, + 444.3230664446014, + -15.526847071400638 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -584.2321647070155, + 441.3230664446014, + -15.526847071400638 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -584.2321647070155, + 438.3230664446014, + -15.526847071400638 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -584.2321647070155, + 435.3230664446014, + -15.526847071400638 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -584.2321647070155, + 432.3230664446014, + -15.526847071400638 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -584.2321647070155, + 429.3230664446014, + -15.526847071400638 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -584.2321647070155, + 426.3230664446014, + -15.526847071400638 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -584.2321647070155, + 423.3230664446014, + -15.526847071400638 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -584.2321647070155, + 420.3230664446014, + -15.526847071400638 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -584.2321647070155, + 417.3230664446014, + -15.526847071400638 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -584.2321647070155, + 414.3230664446014, + -15.526847071400638 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -584.2321647070155, + 411.3230664446014, + -15.526847071400638 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -584.2321647070155, + 408.3230664446014, + -15.526847071400638 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -584.2321647070155, + 405.3230664446014, + -15.526847071400638 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 39, + "pos": [ + -584.2321647070155, + 402.3230664446014, + -15.526847071400638 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 40, + "pos": [ + -584.2321647070155, + 399.3230664446014, + -15.526847071400638 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 41, + "pos": [ + -584.2321647070155, + 396.3230664446014, + -15.526847071400638 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 42, + "pos": [ + -584.2321647070155, + 393.3230664446014, + -15.526847071400638 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + }, + "objects": [] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_14-0-3_1656478042/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_14-0-3_1656478042/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ed2d43015f229ef0242ba3885f8812760cbe1903 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_14-0-3_1656478042/pose.jsonl @@ -0,0 +1,812 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -791.3641908246648, + 293.8447347635347, + -29.714257563468188 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -793.9622670360181, + 295.3447347635347, + -29.714257563468188 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -796.5603432473715, + 296.8447347635347, + -29.714257563468188 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -799.1584194587249, + 298.3447347635347, + -29.714257563468188 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -801.7564956700783, + 299.8447347635347, + -29.714257563468188 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -804.3545718814316, + 301.3447347635347, + -29.714257563468188 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -806.952648092785, + 302.8447347635347, + -29.714257563468188 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -809.5507243041384, + 304.3447347635347, + -29.714257563468188 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -812.1488005154918, + 305.8447347635347, + -29.714257563468188 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -814.7468767268451, + 307.3447347635347, + -29.714257563468188 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -817.3449529381985, + 308.8447347635347, + -29.714257563468188 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -819.9430291495519, + 310.3447347635347, + -29.714257563468188 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -822.5411053609052, + 311.8447347635347, + -29.714257563468188 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -825.1391815722586, + 313.3447347635347, + -29.714257563468188 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -827.737257783612, + 314.8447347635347, + -29.714257563468188 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -830.3353339949654, + 316.3447347635347, + -29.714257563468188 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -832.9334102063187, + 317.8447347635347, + -29.714257563468188 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -835.5314864176721, + 319.3447347635347, + -29.714257563468188 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -838.1295626290255, + 320.8447347635347, + -29.714257563468188 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -840.7276388403789, + 322.3447347635347, + -29.714257563468188 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -843.3257150517322, + 323.8447347635347, + -29.714257563468188 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -845.9237912630856, + 325.3447347635347, + -29.714257563468188 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -848.521867474439, + 326.8447347635347, + -29.714257563468188 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -851.1199436857924, + 328.3447347635347, + -29.714257563468188 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -853.7180198971457, + 329.8447347635347, + -29.714257563468188 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -856.3160961084991, + 331.3447347635347, + -29.714257563468188 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -858.9141723198525, + 332.8447347635347, + -29.714257563468188 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -861.5122485312058, + 334.3447347635347, + -29.714257563468188 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -864.1103247425592, + 335.8447347635347, + -29.714257563468188 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + }, + "objects": [] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_14-1-9_859484421/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_14-1-9_859484421/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f3aa941fe1ae9f4301e9a00ab634ef0d0b81f21d --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_14-1-9_859484421/pose.jsonl @@ -0,0 +1,2209 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -354.76923316903753, + 640.0868156045019, + -9.941609444643294 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -352.1711569576842, + 638.5868156045019, + -9.941609444643294 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -349.5730807463309, + 637.0868156045019, + -9.941609444643294 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -346.9750045349776, + 635.5868156045019, + -9.941609444643294 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -344.37692832362427, + 634.0868156045019, + -9.941609444643294 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -341.77885211227095, + 632.5868156045019, + -9.941609444643294 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -339.18077590091764, + 631.0868156045019, + -9.941609444643294 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -336.5826996895643, + 629.5868156045019, + -9.941609444643294 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -333.984623478211, + 628.0868156045019, + -9.941609444643294 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -331.3865472668577, + 626.5868156045019, + -9.941609444643294 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -328.7884710555044, + 625.0868156045019, + -9.941609444643294 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -326.19039484415106, + 623.5868156045019, + -9.941609444643294 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -323.59231863279774, + 622.0868156045019, + -9.941609444643294 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -320.9942424214444, + 620.5868156045019, + -9.941609444643294 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -318.3961662100911, + 619.0868156045019, + -9.941609444643294 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -315.7980899987378, + 617.5868156045019, + -9.941609444643294 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -313.2000137873845, + 616.0868156045019, + -9.941609444643294 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -313.2000137873845, + 616.0868156045019, + -9.941609444643294 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -311.7000137873845, + 613.4887393931485, + -9.941609444643294 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -310.2000137873845, + 610.8906631817952, + -9.941609444643294 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -308.7000137873845, + 608.2925869704418, + -9.941609444643294 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -307.2000137873845, + 605.6945107590884, + -9.941609444643294 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -305.7000137873845, + 603.096434547735, + -9.941609444643294 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -304.2000137873845, + 600.4983583363817, + -9.941609444643294 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -302.7000137873845, + 597.9002821250283, + -9.941609444643294 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -301.2000137873845, + 595.3022059136749, + -9.941609444643294 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -299.7000137873845, + 592.7041297023216, + -9.941609444643294 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -298.2000137873845, + 590.1060534909682, + -9.941609444643294 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -296.7000137873845, + 587.5079772796148, + -9.941609444643294 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -295.2000137873845, + 584.9099010682614, + -9.941609444643294 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -293.7000137873845, + 582.3118248569081, + -9.941609444643294 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -292.2000137873845, + 579.7137486455547, + -9.941609444643294 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -290.7000137873845, + 577.1156724342013, + -9.941609444643294 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -289.2000137873845, + 574.5175962228479, + -9.941609444643294 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -287.7000137873845, + 571.9195200114946, + -9.941609444643294 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -287.7000137873845, + 571.9195200114946, + -9.941609444643294 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -285.10193757603116, + 570.4195200114946, + -9.941609444643294 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -282.50386136467785, + 568.9195200114946, + -9.941609444643294 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_14-26-17_894429689/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_14-26-17_894429689/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..41f917ae8cc333310a0d2b5b5c7072f9a9a9bbdb --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_14-26-17_894429689/pose.jsonl @@ -0,0 +1,812 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -0.02115053497247743, + 430.1075151227973, + -27.012494693100315 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -2.6192267463257934, + 431.6075151227973, + -27.012494693100315 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -5.2173029576791095, + 433.1075151227973, + -27.012494693100315 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -7.8153791690324255, + 434.6075151227973, + -27.012494693100315 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -10.413455380385741, + 436.1075151227973, + -27.012494693100315 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -13.011531591739057, + 437.6075151227973, + -27.012494693100315 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -15.609607803092374, + 439.1075151227973, + -27.012494693100315 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -18.20768401444569, + 440.6075151227973, + -27.012494693100315 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -20.805760225799006, + 442.1075151227973, + -27.012494693100315 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -23.40383643715232, + 443.6075151227973, + -27.012494693100315 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -26.001912648505638, + 445.1075151227973, + -27.012494693100315 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -28.599988859858954, + 446.6075151227973, + -27.012494693100315 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -31.19806507121227, + 448.1075151227973, + -27.012494693100315 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -33.796141282565586, + 449.6075151227973, + -27.012494693100315 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -36.3942174939189, + 451.1075151227973, + -27.012494693100315 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -38.99229370527222, + 452.6075151227973, + -27.012494693100315 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -41.590369916625534, + 454.1075151227973, + -27.012494693100315 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -44.18844612797885, + 455.6075151227973, + -27.012494693100315 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -46.786522339332166, + 457.1075151227973, + -27.012494693100315 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -49.38459855068548, + 458.6075151227973, + -27.012494693100315 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -51.9826747620388, + 460.1075151227973, + -27.012494693100315 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -54.580750973392114, + 461.6075151227973, + -27.012494693100315 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -57.17882718474543, + 463.1075151227973, + -27.012494693100315 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -59.776903396098746, + 464.6075151227973, + -27.012494693100315 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -62.37497960745206, + 466.1075151227973, + -27.012494693100315 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 25, + "pos": [ + -62.37497960745206, + 466.1075151227973, + -27.012494693100315 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 26, + "pos": [ + -65.37497960745206, + 466.1075151227973, + -27.012494693100315 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 27, + "pos": [ + -68.37497960745206, + 466.1075151227973, + -27.012494693100315 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 28, + "pos": [ + -71.37497960745206, + 466.1075151227973, + -27.012494693100315 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 29, + "pos": [ + -74.37497960745206, + 466.1075151227973, + -27.012494693100315 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 30, + "pos": [ + -77.37497960745206, + 466.1075151227973, + -27.012494693100315 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 31, + "pos": [ + -80.37497960745206, + 466.1075151227973, + -27.012494693100315 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 32, + "pos": [ + -83.37497960745206, + 466.1075151227973, + -27.012494693100315 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_14-37-53_1631518149/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_14-37-53_1631518149/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3d0697985acdefcd77b82670f60f933c61ae47b1 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_14-37-53_1631518149/pose.jsonl @@ -0,0 +1,1744 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -764.3736823073981, + 672.9409358677635, + -8.322363608474536 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -761.3736823073981, + 672.9409358677635, + -8.322363608474536 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -758.3736823073981, + 672.9409358677635, + -8.322363608474536 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -755.3736823073981, + 672.9409358677635, + -8.322363608474536 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -752.3736823073981, + 672.9409358677635, + -8.322363608474536 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -749.3736823073981, + 672.9409358677635, + -8.322363608474536 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -746.3736823073981, + 672.9409358677635, + -8.322363608474536 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -746.3736823073981, + 672.9409358677635, + -8.322363608474536 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -743.7756060960448, + 671.4409358677635, + -8.322363608474536 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -741.1775298846915, + 669.9409358677635, + -8.322363608474536 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -738.5794536733381, + 668.4409358677635, + -8.322363608474536 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -735.9813774619847, + 666.9409358677635, + -8.322363608474536 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -733.3833012506313, + 665.4409358677635, + -8.322363608474536 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -730.785225039278, + 663.9409358677635, + -8.322363608474536 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -728.1871488279246, + 662.4409358677635, + -8.322363608474536 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -725.5890726165712, + 660.9409358677635, + -8.322363608474536 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -722.9909964052179, + 659.4409358677635, + -8.322363608474536 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -720.3929201938645, + 657.9409358677635, + -8.322363608474536 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -717.7948439825111, + 656.4409358677635, + -8.322363608474536 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -715.1967677711577, + 654.9409358677635, + -8.322363608474536 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -712.5986915598044, + 653.4409358677635, + -8.322363608474536 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -710.000615348451, + 651.9409358677635, + -8.322363608474536 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -707.4025391370976, + 650.4409358677635, + -8.322363608474536 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -704.8044629257442, + 648.9409358677635, + -8.322363608474536 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -702.2063867143909, + 647.4409358677635, + -8.322363608474536 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -699.6083105030375, + 645.9409358677635, + -8.322363608474536 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -697.0102342916841, + 644.4409358677635, + -8.322363608474536 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -694.4121580803308, + 642.9409358677635, + -8.322363608474536 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -691.8140818689774, + 641.4409358677635, + -8.322363608474536 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -689.216005657624, + 639.9409358677635, + -8.322363608474536 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -686.6179294462706, + 638.4409358677635, + -8.322363608474536 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -686.6179294462706, + 638.4409358677635, + -8.322363608474536 + ], + "type": "go straight", + "value": 3, + "yaw": 9.43689570931383e-15 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -683.6179294462706, + 638.4409358677635, + -8.322363608474536 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_14-42-56_424238335/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_14-42-56_424238335/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5d5a82c8c81909f9486c1d2cc3471d5abbb52fb0 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_14-42-56_424238335/pose.jsonl @@ -0,0 +1,2055 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -651.1595038782121, + 411.9205398759807, + -4.802425242303688 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -653.7575800895654, + 413.4205398759807, + -4.802425242303688 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -656.3556563009188, + 414.9205398759807, + -4.802425242303688 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -658.9537325122722, + 416.4205398759807, + -4.802425242303688 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -661.5518087236255, + 417.9205398759807, + -4.802425242303688 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -664.1498849349789, + 419.4205398759807, + -4.802425242303688 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -666.7479611463323, + 420.9205398759807, + -4.802425242303688 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -669.3460373576856, + 422.4205398759807, + -4.802425242303688 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -671.944113569039, + 423.9205398759807, + -4.802425242303688 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -674.5421897803924, + 425.4205398759807, + -4.802425242303688 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -677.1402659917458, + 426.9205398759807, + -4.802425242303688 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -679.7383422030991, + 428.4205398759807, + -4.802425242303688 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -682.3364184144525, + 429.9205398759807, + -4.802425242303688 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -684.9344946258059, + 431.4205398759807, + -4.802425242303688 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -687.5325708371593, + 432.9205398759807, + -4.802425242303688 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -690.1306470485126, + 434.4205398759807, + -4.802425242303688 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -692.728723259866, + 435.9205398759807, + -4.802425242303688 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -695.3267994712194, + 437.4205398759807, + -4.802425242303688 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -697.9248756825727, + 438.9205398759807, + -4.802425242303688 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -700.5229518939261, + 440.4205398759807, + -4.802425242303688 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -703.1210281052795, + 441.9205398759807, + -4.802425242303688 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -705.7191043166329, + 443.4205398759807, + -4.802425242303688 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -708.3171805279862, + 444.9205398759807, + -4.802425242303688 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -710.9152567393396, + 446.4205398759807, + -4.802425242303688 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -713.513332950693, + 447.9205398759807, + -4.802425242303688 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -716.1114091620464, + 449.4205398759807, + -4.802425242303688 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -718.7094853733997, + 450.9205398759807, + -4.802425242303688 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -721.3075615847531, + 452.4205398759807, + -4.802425242303688 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -723.9056377961065, + 453.9205398759807, + -4.802425242303688 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -726.5037140074598, + 455.4205398759807, + -4.802425242303688 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -729.1017902188132, + 456.9205398759807, + -4.802425242303688 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -731.6998664301666, + 458.4205398759807, + -4.802425242303688 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -731.6998664301666, + 458.4205398759807, + -4.802425242303688 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -733.1998664301666, + 461.018616087334, + -4.802425242303688 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -734.6998664301666, + 463.6166922986873, + -4.802425242303688 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -736.1998664301666, + 466.21476851004064, + -4.802425242303688 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -737.6998664301666, + 468.81284472139396, + -4.802425242303688 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -739.1998664301666, + 471.4109209327473, + -4.802425242303688 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -740.6998664301666, + 474.0089971441006, + -4.802425242303688 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_14-52-7_1315634022/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_14-52-7_1315634022/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2772be345ee61a0345eeb8e7b86f315b1e9e9572 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_14-52-7_1315634022/pose.jsonl @@ -0,0 +1,1289 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -434.48751421122336, + 470.33762183306476, + -17.53486137368556 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -437.0855904225767, + 468.83762183306476, + -17.53486137368556 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -439.68366663393, + 467.33762183306476, + -17.53486137368556 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -442.2817428452833, + 465.83762183306476, + -17.53486137368556 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -444.8798190566366, + 464.33762183306476, + -17.53486137368556 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -447.47789526798994, + 462.83762183306476, + -17.53486137368556 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -450.07597147934325, + 461.33762183306476, + -17.53486137368556 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -452.67404769069657, + 459.83762183306476, + -17.53486137368556 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -455.2721239020499, + 458.33762183306476, + -17.53486137368556 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -457.8702001134032, + 456.83762183306476, + -17.53486137368556 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -460.4682763247565, + 455.33762183306476, + -17.53486137368556 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -463.06635253610983, + 453.83762183306476, + -17.53486137368556 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -465.66442874746315, + 452.33762183306476, + -17.53486137368556 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -468.26250495881646, + 450.83762183306476, + -17.53486137368556 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -470.8605811701698, + 449.33762183306476, + -17.53486137368556 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -473.4586573815231, + 447.83762183306476, + -17.53486137368556 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -476.0567335928764, + 446.33762183306476, + -17.53486137368556 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -478.6548098042297, + 444.83762183306476, + -17.53486137368556 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -481.25288601558304, + 443.33762183306476, + -17.53486137368556 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -483.85096222693636, + 441.83762183306476, + -17.53486137368556 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -486.4490384382897, + 440.33762183306476, + -17.53486137368556 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -489.047114649643, + 438.83762183306476, + -17.53486137368556 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -491.6451908609963, + 437.33762183306476, + -17.53486137368556 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -494.2432670723496, + 435.83762183306476, + -17.53486137368556 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -496.84134328370294, + 434.33762183306476, + -17.53486137368556 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -499.43941949505626, + 432.83762183306476, + -17.53486137368556 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -499.43941949505626, + 432.83762183306476, + -17.53486137368556 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -500.93941949505626, + 430.23954562171144, + -17.53486137368556 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -502.43941949505626, + 427.6414694103581, + -17.53486137368556 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -503.93941949505626, + 425.0433931990048, + -17.53486137368556 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -505.43941949505626, + 422.4453169876515, + -17.53486137368556 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -506.93941949505626, + 419.8472407762982, + -17.53486137368556 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -508.43941949505626, + 417.24916456494486, + -17.53486137368556 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_14-56-15_608413784/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_14-56-15_608413784/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0bc8da88abbb43482b1f8781cb19adbff5d08c60 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_14-56-15_608413784/pose.jsonl @@ -0,0 +1,1804 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -587.476663035017, + 730.5036414479181, + -4.542889014400245 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -585.976663035017, + 727.9055652365648, + -4.542889014400245 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -584.476663035017, + 725.3074890252115, + -4.542889014400245 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -582.976663035017, + 722.7094128138581, + -4.542889014400245 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -581.476663035017, + 720.1113366025047, + -4.542889014400245 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -579.976663035017, + 717.5132603911513, + -4.542889014400245 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -578.476663035017, + 714.915184179798, + -4.542889014400245 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -576.976663035017, + 712.3171079684446, + -4.542889014400245 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -575.476663035017, + 709.7190317570912, + -4.542889014400245 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -573.976663035017, + 707.1209555457378, + -4.542889014400245 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -573.976663035017, + 707.1209555457378, + -4.542889014400245 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -571.3785868236637, + 705.6209555457378, + -4.542889014400245 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -568.7805106123103, + 704.1209555457378, + -4.542889014400245 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -566.1824344009569, + 702.6209555457378, + -4.542889014400245 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -563.5843581896036, + 701.1209555457378, + -4.542889014400245 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -560.9862819782502, + 699.6209555457378, + -4.542889014400245 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -558.3882057668968, + 698.1209555457378, + -4.542889014400245 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -555.7901295555434, + 696.6209555457378, + -4.542889014400245 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -553.1920533441901, + 695.1209555457378, + -4.542889014400245 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -550.5939771328367, + 693.6209555457378, + -4.542889014400245 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -547.9959009214833, + 692.1209555457378, + -4.542889014400245 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -545.39782471013, + 690.6209555457378, + -4.542889014400245 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -542.7997484987766, + 689.1209555457378, + -4.542889014400245 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -540.2016722874232, + 687.6209555457378, + -4.542889014400245 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -537.6035960760698, + 686.1209555457378, + -4.542889014400245 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -535.0055198647165, + 684.6209555457378, + -4.542889014400245 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -532.4074436533631, + 683.1209555457378, + -4.542889014400245 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -529.8093674420097, + 681.6209555457378, + -4.542889014400245 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -527.2112912306563, + 680.1209555457378, + -4.542889014400245 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -524.613215019303, + 678.6209555457378, + -4.542889014400245 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -522.0151388079496, + 677.1209555457378, + -4.542889014400245 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -519.4170625965962, + 675.6209555457378, + -4.542889014400245 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -516.8189863852429, + 674.1209555457378, + -4.542889014400245 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -514.2209101738895, + 672.6209555457378, + -4.542889014400245 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -511.62283396253616, + 671.1209555457378, + -4.542889014400245 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -509.02475775118285, + 669.6209555457378, + -4.542889014400245 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -506.42668153982953, + 668.1209555457378, + -4.542889014400245 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_14-56-35_756898537/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_14-56-35_756898537/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..09275a8cb301b5e8ceea78e1bda77d504c72689a --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_14-56-35_756898537/pose.jsonl @@ -0,0 +1,868 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -465.2826931267273, + 17.652242511915787, + -9.52458953889191 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -466.7826931267273, + 20.250318723269103, + -9.52458953889191 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -468.2826931267273, + 22.84839493462242, + -9.52458953889191 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -469.7826931267273, + 25.446471145975735, + -9.52458953889191 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -471.2826931267273, + 28.04454735732905, + -9.52458953889191 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -472.7826931267273, + 30.642623568682367, + -9.52458953889191 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -474.2826931267273, + 33.24069978003568, + -9.52458953889191 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -475.7826931267273, + 35.838775991389, + -9.52458953889191 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -477.2826931267273, + 38.436852202742315, + -9.52458953889191 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -478.7826931267273, + 41.03492841409563, + -9.52458953889191 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -480.2826931267273, + 43.63300462544895, + -9.52458953889191 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -481.7826931267273, + 46.23108083680226, + -9.52458953889191 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -483.2826931267273, + 48.82915704815558, + -9.52458953889191 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -484.7826931267273, + 51.427233259508895, + -9.52458953889191 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -486.2826931267273, + 54.02530947086221, + -9.52458953889191 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -487.7826931267273, + 56.62338568221553, + -9.52458953889191 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -489.2826931267273, + 59.22146189356884, + -9.52458953889191 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -490.7826931267273, + 61.81953810492216, + -9.52458953889191 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -492.2826931267273, + 64.41761431627548, + -9.52458953889191 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -493.7826931267273, + 67.01569052762879, + -9.52458953889191 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -495.2826931267273, + 69.61376673898211, + -9.52458953889191 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -496.7826931267273, + 72.21184295033542, + -9.52458953889191 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -498.2826931267273, + 74.80991916168874, + -9.52458953889191 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -498.2826931267273, + 74.80991916168874, + -9.52458953889191 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -500.8807693380806, + 76.30991916168874, + -9.52458953889191 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -503.4788455494339, + 77.80991916168874, + -9.52458953889191 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -506.07692176078723, + 79.30991916168874, + -9.52458953889191 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -508.67499797214055, + 80.80991916168874, + -9.52458953889191 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -511.27307418349386, + 82.30991916168874, + -9.52458953889191 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -513.8711503948472, + 83.80991916168874, + -9.52458953889191 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -516.4692266062004, + 85.30991916168874, + -9.52458953889191 + ], + "type": "stop", + "value": 0, + "yaw": 2.617993877991485 + }, + "objects": [] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_14-59-37_1911759956/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_14-59-37_1911759956/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..eafece0e4d2805dfd24e2dad040875a16d23c5a5 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_14-59-37_1911759956/pose.jsonl @@ -0,0 +1,1663 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -679.5717350353332, + 636.3541236963736, + -13.247445310988926 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [] +} +{ + "action": { + "imageid": 1, + "pos": [ + -679.5717350353332, + 639.3541236963736, + -13.247445310988926 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [] +} +{ + "action": { + "imageid": 2, + "pos": [ + -679.5717350353332, + 642.3541236963736, + -13.247445310988926 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -679.5717350353332, + 645.3541236963736, + -13.247445310988926 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -679.5717350353332, + 648.3541236963736, + -13.247445310988926 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -679.5717350353332, + 651.3541236963736, + -13.247445310988926 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -679.5717350353332, + 654.3541236963736, + -13.247445310988926 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -679.5717350353332, + 657.3541236963736, + -13.247445310988926 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -679.5717350353332, + 660.3541236963736, + -13.247445310988926 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -679.5717350353332, + 663.3541236963736, + -13.247445310988926 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -679.5717350353332, + 666.3541236963736, + -13.247445310988926 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -679.5717350353332, + 669.3541236963736, + -13.247445310988926 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -679.5717350353332, + 672.3541236963736, + -13.247445310988926 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -679.5717350353332, + 675.3541236963736, + -13.247445310988926 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -679.5717350353332, + 678.3541236963736, + -13.247445310988926 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -679.5717350353332, + 681.3541236963736, + -13.247445310988926 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -679.5717350353332, + 684.3541236963736, + -13.247445310988926 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -679.5717350353332, + 687.3541236963736, + -13.247445310988926 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -679.5717350353332, + 690.3541236963736, + -13.247445310988926 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -679.5717350353332, + 693.3541236963736, + -13.247445310988926 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -679.5717350353332, + 696.3541236963736, + -13.247445310988926 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -679.5717350353332, + 699.3541236963736, + -13.247445310988926 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -679.5717350353332, + 699.3541236963736, + -13.247445310988926 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -678.0717350353332, + 701.9521999077269, + -13.247445310988926 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -676.5717350353332, + 704.5502761190803, + -13.247445310988926 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -675.0717350353332, + 707.1483523304337, + -13.247445310988926 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -673.5717350353332, + 709.746428541787, + -13.247445310988926 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -672.0717350353332, + 712.3445047531404, + -13.247445310988926 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -670.5717350353332, + 714.9425809644938, + -13.247445310988926 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -669.0717350353332, + 717.5406571758472, + -13.247445310988926 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -667.5717350353332, + 720.1387333872005, + -13.247445310988926 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -666.0717350353332, + 722.7368095985539, + -13.247445310988926 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -664.5717350353332, + 725.3348858099073, + -13.247445310988926 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -663.0717350353332, + 727.9329620212607, + -13.247445310988926 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -661.5717350353332, + 730.531038232614, + -13.247445310988926 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -660.0717350353332, + 733.1291144439674, + -13.247445310988926 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -658.5717350353332, + 735.7271906553208, + -13.247445310988926 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -657.0717350353332, + 738.3252668666742, + -13.247445310988926 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -655.5717350353332, + 740.9233430780275, + -13.247445310988926 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-0-21_137806862/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-0-21_137806862/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a4b3644c56fa12f3bb0606eb17d0f7f962275d43 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-0-21_137806862/pose.jsonl @@ -0,0 +1,1172 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -593.7092910972599, + 686.0228396509499, + -7.2044896863852586 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -590.7092910972599, + 686.0228396509499, + -7.2044896863852586 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -587.7092910972599, + 686.0228396509499, + -7.2044896863852586 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -584.7092910972599, + 686.0228396509499, + -7.2044896863852586 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -581.7092910972599, + 686.0228396509499, + -7.2044896863852586 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -578.7092910972599, + 686.0228396509499, + -7.2044896863852586 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -575.7092910972599, + 686.0228396509499, + -7.2044896863852586 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -572.7092910972599, + 686.0228396509499, + -7.2044896863852586 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -569.7092910972599, + 686.0228396509499, + -7.2044896863852586 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -569.7092910972599, + 686.0228396509499, + -7.2044896863852586 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -567.1112148859065, + 687.5228396509499, + -7.2044896863852586 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -564.5131386745531, + 689.0228396509499, + -7.2044896863852586 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -561.9150624631998, + 690.5228396509499, + -7.2044896863852586 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -559.3169862518464, + 692.0228396509499, + -7.2044896863852586 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -556.718910040493, + 693.5228396509499, + -7.2044896863852586 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -554.1208338291397, + 695.0228396509499, + -7.2044896863852586 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -551.5227576177863, + 696.5228396509499, + -7.2044896863852586 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -548.9246814064329, + 698.0228396509499, + -7.2044896863852586 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -546.3266051950795, + 699.5228396509499, + -7.2044896863852586 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -543.7285289837262, + 701.0228396509499, + -7.2044896863852586 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -541.1304527723728, + 702.5228396509499, + -7.2044896863852586 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -538.5323765610194, + 704.0228396509499, + -7.2044896863852586 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -535.934300349666, + 705.5228396509499, + -7.2044896863852586 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -533.3362241383127, + 707.0228396509499, + -7.2044896863852586 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -530.7381479269593, + 708.5228396509499, + -7.2044896863852586 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -528.1400717156059, + 710.0228396509499, + -7.2044896863852586 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -525.5419955042526, + 711.5228396509499, + -7.2044896863852586 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -522.9439192928992, + 713.0228396509499, + -7.2044896863852586 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -520.3458430815458, + 714.5228396509499, + -7.2044896863852586 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -517.7477668701924, + 716.0228396509499, + -7.2044896863852586 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -515.1496906588391, + 717.5228396509499, + -7.2044896863852586 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -512.5516144474857, + 719.0228396509499, + -7.2044896863852586 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -509.9535382361324, + 720.5228396509499, + -7.2044896863852586 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -507.35546202477906, + 722.0228396509499, + -7.2044896863852586 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -504.75738581342574, + 723.5228396509499, + -7.2044896863852586 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -502.1593096020724, + 725.0228396509499, + -7.2044896863852586 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -499.5612333907191, + 726.5228396509499, + -7.2044896863852586 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -496.9631571793658, + 728.0228396509499, + -7.2044896863852586 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -494.3650809680125, + 729.5228396509499, + -7.2044896863852586 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 39, + "pos": [ + -491.76700475665916, + 731.0228396509499, + -7.2044896863852586 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + }, + "objects": [] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-1-41_511702305/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-1-41_511702305/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cd2e98e237ab329fb311a2dd451e94aa1e5dde0f --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-1-41_511702305/pose.jsonl @@ -0,0 +1,966 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -437.7783518456344, + 649.0550752551035, + -11.885005993272241 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -439.2783518456344, + 651.6531514664568, + -11.885005993272241 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -440.7783518456344, + 654.2512276778102, + -11.885005993272241 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -442.2783518456344, + 656.8493038891636, + -11.885005993272241 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -443.7783518456344, + 659.447380100517, + -11.885005993272241 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -445.2783518456344, + 662.0454563118703, + -11.885005993272241 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -446.7783518456344, + 664.6435325232237, + -11.885005993272241 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -448.2783518456344, + 667.2416087345771, + -11.885005993272241 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -449.7783518456344, + 669.8396849459305, + -11.885005993272241 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -451.2783518456344, + 672.4377611572838, + -11.885005993272241 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -452.7783518456344, + 675.0358373686372, + -11.885005993272241 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -454.2783518456344, + 677.6339135799906, + -11.885005993272241 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -455.7783518456344, + 680.231989791344, + -11.885005993272241 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -457.2783518456344, + 682.8300660026973, + -11.885005993272241 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -458.7783518456344, + 685.4281422140507, + -11.885005993272241 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -460.2783518456344, + 688.0262184254041, + -11.885005993272241 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -461.7783518456344, + 690.6242946367574, + -11.885005993272241 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -463.2783518456344, + 693.2223708481108, + -11.885005993272241 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -464.7783518456344, + 695.8204470594642, + -11.885005993272241 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -466.2783518456344, + 698.4185232708176, + -11.885005993272241 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -467.7783518456344, + 701.0165994821709, + -11.885005993272241 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -469.2783518456344, + 703.6146756935243, + -11.885005993272241 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -470.7783518456344, + 706.2127519048777, + -11.885005993272241 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -472.2783518456344, + 708.810828116231, + -11.885005993272241 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -473.7783518456344, + 711.4089043275844, + -11.885005993272241 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -475.2783518456344, + 714.0069805389378, + -11.885005993272241 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -476.7783518456344, + 716.6050567502912, + -11.885005993272241 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -478.2783518456344, + 719.2031329616445, + -11.885005993272241 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -479.7783518456344, + 721.8012091729979, + -11.885005993272241 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -481.2783518456344, + 724.3992853843513, + -11.885005993272241 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -481.2783518456344, + 724.3992853843513, + -11.885005993272241 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -483.8764280569877, + 725.8992853843513, + -11.885005993272241 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -486.47450426834104, + 727.3992853843513, + -11.885005993272241 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -489.07258047969435, + 728.8992853843513, + -11.885005993272241 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-10-38_491705403/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-10-38_491705403/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b862ef8dabd1efccf83917d7b91795d951b6b8f0 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-10-38_491705403/pose.jsonl @@ -0,0 +1,2008 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -250.0149338444179, + 507.48517409516126, + -7.5765466159125765 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -251.5149338444179, + 510.08325030651457, + -7.5765466159125765 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -253.0149338444179, + 512.6813265178679, + -7.5765466159125765 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -254.5149338444179, + 515.2794027292211, + -7.5765466159125765 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -256.0149338444179, + 517.8774789405745, + -7.5765466159125765 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -257.5149338444179, + 520.4755551519279, + -7.5765466159125765 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -259.0149338444179, + 523.0736313632813, + -7.5765466159125765 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -260.5149338444179, + 525.6717075746346, + -7.5765466159125765 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -262.0149338444179, + 528.269783785988, + -7.5765466159125765 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -263.5149338444179, + 530.8678599973414, + -7.5765466159125765 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -265.0149338444179, + 533.4659362086948, + -7.5765466159125765 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -266.5149338444179, + 536.0640124200481, + -7.5765466159125765 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -268.0149338444179, + 538.6620886314015, + -7.5765466159125765 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -269.5149338444179, + 541.2601648427549, + -7.5765466159125765 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -271.0149338444179, + 543.8582410541082, + -7.5765466159125765 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -272.5149338444179, + 546.4563172654616, + -7.5765466159125765 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -274.0149338444179, + 549.054393476815, + -7.5765466159125765 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -275.5149338444179, + 551.6524696881684, + -7.5765466159125765 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -277.0149338444179, + 554.2505458995217, + -7.5765466159125765 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -278.5149338444179, + 556.8486221108751, + -7.5765466159125765 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -280.0149338444179, + 559.4466983222285, + -7.5765466159125765 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -281.5149338444179, + 562.0447745335819, + -7.5765466159125765 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -283.0149338444179, + 564.6428507449352, + -7.5765466159125765 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -284.5149338444179, + 567.2409269562886, + -7.5765466159125765 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -286.0149338444179, + 569.839003167642, + -7.5765466159125765 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -286.0149338444179, + 569.839003167642, + -7.5765466159125765 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -288.6130100557712, + 571.339003167642, + -7.5765466159125765 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -291.21108626712453, + 572.839003167642, + -7.5765466159125765 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -293.80916247847784, + 574.339003167642, + -7.5765466159125765 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -296.40723868983116, + 575.839003167642, + -7.5765466159125765 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -299.0053149011845, + 577.339003167642, + -7.5765466159125765 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -301.6033911125378, + 578.839003167642, + -7.5765466159125765 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -304.2014673238911, + 580.339003167642, + -7.5765466159125765 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -306.7995435352444, + 581.839003167642, + -7.5765466159125765 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -309.39761974659774, + 583.339003167642, + -7.5765466159125765 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-11-16_752392754/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-11-16_752392754/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..be2229d72733efbcfd84da238aa4620242ad95a4 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-11-16_752392754/pose.jsonl @@ -0,0 +1,1167 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -756.4051449702768, + 658.479010634897, + -3.757534264189573 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -756.4051449702768, + 661.479010634897, + -3.757534264189573 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -756.4051449702768, + 664.479010634897, + -3.757534264189573 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -756.4051449702768, + 667.479010634897, + -3.757534264189573 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -756.4051449702768, + 670.479010634897, + -3.757534264189573 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -756.4051449702768, + 673.479010634897, + -3.757534264189573 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -756.4051449702768, + 676.479010634897, + -3.757534264189573 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -756.4051449702768, + 679.479010634897, + -3.757534264189573 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -756.4051449702768, + 682.479010634897, + -3.757534264189573 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -756.4051449702768, + 685.479010634897, + -3.757534264189573 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -756.4051449702768, + 688.479010634897, + -3.757534264189573 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -756.4051449702768, + 691.479010634897, + -3.757534264189573 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -756.4051449702768, + 694.479010634897, + -3.757534264189573 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -756.4051449702768, + 697.479010634897, + -3.757534264189573 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -756.4051449702768, + 700.479010634897, + -3.757534264189573 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -756.4051449702768, + 703.479010634897, + -3.757534264189573 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -756.4051449702768, + 706.479010634897, + -3.757534264189573 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -756.4051449702768, + 709.479010634897, + -3.757534264189573 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -756.4051449702768, + 712.479010634897, + -3.757534264189573 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -756.4051449702768, + 715.479010634897, + -3.757534264189573 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -756.4051449702768, + 718.479010634897, + -3.757534264189573 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -756.4051449702768, + 721.479010634897, + -3.757534264189573 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -756.4051449702768, + 724.479010634897, + -3.757534264189573 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -756.4051449702768, + 727.479010634897, + -3.757534264189573 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -756.4051449702768, + 730.479010634897, + -3.757534264189573 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -756.4051449702768, + 733.479010634897, + -3.757534264189573 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -756.4051449702768, + 736.479010634897, + -3.757534264189573 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -756.4051449702768, + 736.479010634897, + -3.757534264189573 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -754.9051449702768, + 739.0770868462503, + -3.757534264189573 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -753.4051449702768, + 741.6751630576036, + -3.757534264189573 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -751.9051449702768, + 744.273239268957, + -3.757534264189573 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -750.4051449702768, + 746.8713154803104, + -3.757534264189573 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -748.9051449702768, + 749.4693916916638, + -3.757534264189573 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -747.4051449702768, + 752.0674679030171, + -3.757534264189573 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -745.9051449702768, + 754.6655441143705, + -3.757534264189573 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -744.4051449702768, + 757.2636203257239, + -3.757534264189573 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -742.9051449702768, + 759.8616965370773, + -3.757534264189573 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [] +} +{ + "action": { + "imageid": 37, + "pos": [ + -741.4051449702768, + 762.4597727484306, + -3.757534264189573 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + }, + "objects": [] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-13-20_943947739/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-13-20_943947739/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..14ca9f539c23a7cff793c353bc63720085b1c61c --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-13-20_943947739/pose.jsonl @@ -0,0 +1,1007 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -608.2040219399303, + 39.38127570999975, + -2.0292562963371807 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -605.2040219399303, + 39.38127570999975, + -2.0292562963371807 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -602.2040219399303, + 39.38127570999975, + -2.0292562963371807 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -599.2040219399303, + 39.38127570999975, + -2.0292562963371807 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -599.2040219399303, + 39.38127570999975, + -2.0292562963371807 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -596.6059457285769, + 40.88127570999975, + -2.0292562963371807 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -594.0078695172235, + 42.38127570999975, + -2.0292562963371807 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -591.4097933058702, + 43.88127570999975, + -2.0292562963371807 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -588.8117170945168, + 45.38127570999975, + -2.0292562963371807 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -586.2136408831634, + 46.88127570999975, + -2.0292562963371807 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -583.61556467181, + 48.38127570999975, + -2.0292562963371807 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -581.0174884604567, + 49.88127570999975, + -2.0292562963371807 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -578.4194122491033, + 51.38127570999975, + -2.0292562963371807 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -575.8213360377499, + 52.88127570999975, + -2.0292562963371807 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -573.2232598263965, + 54.38127570999975, + -2.0292562963371807 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -570.6251836150432, + 55.88127570999975, + -2.0292562963371807 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -568.0271074036898, + 57.38127570999975, + -2.0292562963371807 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -565.4290311923364, + 58.88127570999975, + -2.0292562963371807 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -562.830954980983, + 60.38127570999975, + -2.0292562963371807 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -560.2328787696297, + 61.88127570999975, + -2.0292562963371807 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -557.6348025582763, + 63.38127570999975, + -2.0292562963371807 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -555.0367263469229, + 64.88127570999974, + -2.0292562963371807 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982874 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -552.4386501355696, + 66.38127570999974, + -2.0292562963371807 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -549.8405739242162, + 67.88127570999974, + -2.0292562963371807 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -547.2424977128628, + 69.38127570999974, + -2.0292562963371807 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -544.6444215015094, + 70.88127570999974, + -2.0292562963371807 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -542.0463452901561, + 72.38127570999974, + -2.0292562963371807 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -539.4482690788027, + 73.88127570999974, + -2.0292562963371807 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -536.8501928674493, + 75.38127570999974, + -2.0292562963371807 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -534.252116656096, + 76.88127570999974, + -2.0292562963371807 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -531.6540404447426, + 78.38127570999974, + -2.0292562963371807 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -529.0559642333892, + 79.88127570999974, + -2.0292562963371807 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -526.4578880220358, + 81.38127570999974, + -2.0292562963371807 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -523.8598118106825, + 82.88127570999974, + -2.0292562963371807 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -521.2617355993291, + 84.38127570999974, + -2.0292562963371807 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-14-22_1749698586/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-14-22_1749698586/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8bc77f6050a1266258c6d30b3c2409b5203a45f5 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-14-22_1749698586/pose.jsonl @@ -0,0 +1,1340 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 71.32336443846451, + 31.87178045914375, + -12.41259232309 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [] +} +{ + "action": { + "imageid": 1, + "pos": [ + 71.32336443846451, + 34.87178045914375, + -12.41259232309 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [] +} +{ + "action": { + "imageid": 2, + "pos": [ + 71.32336443846451, + 37.87178045914375, + -12.41259232309 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [] +} +{ + "action": { + "imageid": 3, + "pos": [ + 71.32336443846451, + 40.87178045914375, + -12.41259232309 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [] +} +{ + "action": { + "imageid": 4, + "pos": [ + 71.32336443846451, + 43.87178045914375, + -12.41259232309 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + 71.32336443846451, + 46.87178045914375, + -12.41259232309 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + 71.32336443846451, + 49.87178045914375, + -12.41259232309 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + 71.32336443846451, + 52.87178045914375, + -12.41259232309 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + 71.32336443846451, + 55.87178045914375, + -12.41259232309 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + 71.32336443846451, + 58.87178045914375, + -12.41259232309 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + 71.32336443846451, + 61.87178045914375, + -12.41259232309 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + 71.32336443846451, + 64.87178045914375, + -12.41259232309 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + 71.32336443846451, + 67.87178045914375, + -12.41259232309 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + 71.32336443846451, + 70.87178045914375, + -12.41259232309 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + 71.32336443846451, + 73.87178045914375, + -12.41259232309 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + 71.32336443846451, + 76.87178045914375, + -12.41259232309 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + 71.32336443846451, + 79.87178045914375, + -12.41259232309 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + 71.32336443846451, + 82.87178045914375, + -12.41259232309 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + 71.32336443846451, + 85.87178045914375, + -12.41259232309 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + 71.32336443846451, + 88.87178045914375, + -12.41259232309 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + 71.32336443846451, + 91.87178045914375, + -12.41259232309 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + 71.32336443846451, + 94.87178045914375, + -12.41259232309 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + 71.32336443846451, + 97.87178045914375, + -12.41259232309 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + 71.32336443846451, + 100.87178045914375, + -12.41259232309 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + 71.32336443846451, + 103.87178045914375, + -12.41259232309 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + 71.32336443846451, + 106.87178045914375, + -12.41259232309 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + 71.32336443846451, + 109.87178045914375, + -12.41259232309 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + 71.32336443846451, + 112.87178045914375, + -12.41259232309 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + 71.32336443846451, + 115.87178045914375, + -12.41259232309 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + 71.32336443846451, + 118.87178045914375, + -12.41259232309 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + 71.32336443846451, + 121.87178045914375, + -12.41259232309 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + 71.32336443846451, + 124.87178045914375, + -12.41259232309 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + 71.32336443846451, + 127.87178045914375, + -12.41259232309 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + 71.32336443846451, + 130.87178045914374, + -12.41259232309 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + 71.32336443846451, + 133.87178045914374, + -12.41259232309 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + 71.32336443846451, + 136.87178045914374, + -12.41259232309 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + 71.32336443846451, + 139.87178045914374, + -12.41259232309 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + 71.32336443846451, + 142.87178045914374, + -12.41259232309 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + 71.32336443846451, + 142.87178045914374, + -12.41259232309 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 39, + "pos": [ + 72.82336443846451, + 145.46985667049705, + -12.41259232309 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 40, + "pos": [ + 74.32336443846451, + 148.06793288185037, + -12.41259232309 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-18-2_1330573317/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-18-2_1330573317/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0ef7e635e91b2d2405313258a6c1b98619beded4 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-18-2_1330573317/pose.jsonl @@ -0,0 +1,1221 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -653.2338334252862, + 472.7937643848446, + -6.322682594994564 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [] +} +{ + "action": { + "imageid": 1, + "pos": [ + -651.7338334252862, + 470.1956881734913, + -6.322682594994564 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [] +} +{ + "action": { + "imageid": 2, + "pos": [ + -650.2338334252862, + 467.597611962138, + -6.322682594994564 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -648.7338334252862, + 464.9995357507847, + -6.322682594994564 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -647.2338334252862, + 462.40145953943136, + -6.322682594994564 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -645.7338334252862, + 459.80338332807804, + -6.322682594994564 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -644.2338334252862, + 457.2053071167247, + -6.322682594994564 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -642.7338334252862, + 454.6072309053714, + -6.322682594994564 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -641.2338334252862, + 452.0091546940181, + -6.322682594994564 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -639.7338334252862, + 449.4110784826648, + -6.322682594994564 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -638.2338334252862, + 446.81300227131146, + -6.322682594994564 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -636.7338334252862, + 444.21492605995815, + -6.322682594994564 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -635.2338334252862, + 441.61684984860483, + -6.322682594994564 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -633.7338334252862, + 439.0187736372515, + -6.322682594994564 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -632.2338334252862, + 436.4206974258982, + -6.322682594994564 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -630.7338334252862, + 433.8226212145449, + -6.322682594994564 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -629.2338334252862, + 431.22454500319157, + -6.322682594994564 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -627.7338334252862, + 428.62646879183825, + -6.322682594994564 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -626.2338334252862, + 426.02839258048493, + -6.322682594994564 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -624.7338334252862, + 423.4303163691316, + -6.322682594994564 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -623.2338334252862, + 420.8322401577783, + -6.322682594994564 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -621.7338334252862, + 418.234163946425, + -6.322682594994564 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -620.2338334252862, + 415.63608773507167, + -6.322682594994564 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -620.2338334252862, + 415.63608773507167, + -6.322682594994564 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -617.635757213933, + 414.13608773507167, + -6.322682594994564 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -615.0376810025796, + 412.63608773507167, + -6.322682594994564 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -612.4396047912262, + 411.13608773507167, + -6.322682594994564 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -609.8415285798728, + 409.63608773507167, + -6.322682594994564 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -607.2434523685195, + 408.13608773507167, + -6.322682594994564 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -604.6453761571661, + 406.63608773507167, + -6.322682594994564 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -602.0472999458127, + 405.13608773507167, + -6.322682594994564 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -599.4492237344593, + 403.63608773507167, + -6.322682594994564 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -596.851147523106, + 402.13608773507167, + -6.322682594994564 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -594.2530713117526, + 400.63608773507167, + -6.322682594994564 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -591.6549951003992, + 399.13608773507167, + -6.322682594994564 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -589.0569188890458, + 397.63608773507167, + -6.322682594994564 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -586.4588426776925, + 396.13608773507167, + -6.322682594994564 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -586.4588426776925, + 396.13608773507167, + -6.322682594994564 + ], + "type": "turn right", + "value": 30, + "yaw": -1.047197551196588 + }, + "objects": [] +} +{ + "action": { + "imageid": 38, + "pos": [ + -586.4588426776925, + 396.13608773507167, + -6.322682594994564 + ], + "type": "go straight", + "value": 3, + "yaw": -1.570796326794887 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 39, + "pos": [ + -586.4588426776925, + 393.13608773507167, + -6.322682594994564 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + }, + "objects": [] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-2-20_1937477084/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-2-20_1937477084/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b16993f6b2cc7f8f28bbf326c51beee9d3f218f1 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-2-20_1937477084/pose.jsonl @@ -0,0 +1,1365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -704.8400609564588, + 386.0913982063058, + -12.377840423819386 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [] +} +{ + "action": { + "imageid": 1, + "pos": [ + -701.8400609564588, + 386.0913982063058, + -12.377840423819386 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [] +} +{ + "action": { + "imageid": 2, + "pos": [ + -698.8400609564588, + 386.0913982063058, + -12.377840423819386 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [] +} +{ + "action": { + "imageid": 3, + "pos": [ + -695.8400609564588, + 386.0913982063058, + -12.377840423819386 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [] +} +{ + "action": { + "imageid": 4, + "pos": [ + -692.8400609564588, + 386.0913982063058, + -12.377840423819386 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [] +} +{ + "action": { + "imageid": 5, + "pos": [ + -689.8400609564588, + 386.0913982063058, + -12.377840423819386 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -686.8400609564588, + 386.0913982063058, + -12.377840423819386 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -683.8400609564588, + 386.0913982063058, + -12.377840423819386 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -680.8400609564588, + 386.0913982063058, + -12.377840423819386 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -677.8400609564588, + 386.0913982063058, + -12.377840423819386 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -674.8400609564588, + 386.0913982063058, + -12.377840423819386 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -671.8400609564588, + 386.0913982063058, + -12.377840423819386 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -668.8400609564588, + 386.0913982063058, + -12.377840423819386 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -665.8400609564588, + 386.0913982063058, + -12.377840423819386 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -662.8400609564588, + 386.0913982063058, + -12.377840423819386 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -659.8400609564588, + 386.0913982063058, + -12.377840423819386 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -656.8400609564588, + 386.0913982063058, + -12.377840423819386 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -653.8400609564588, + 386.0913982063058, + -12.377840423819386 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -650.8400609564588, + 386.0913982063058, + -12.377840423819386 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -647.8400609564588, + 386.0913982063058, + -12.377840423819386 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -644.8400609564588, + 386.0913982063058, + -12.377840423819386 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -641.8400609564588, + 386.0913982063058, + -12.377840423819386 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -638.8400609564588, + 386.0913982063058, + -12.377840423819386 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -635.8400609564588, + 386.0913982063058, + -12.377840423819386 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -632.8400609564588, + 386.0913982063058, + -12.377840423819386 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -629.8400609564588, + 386.0913982063058, + -12.377840423819386 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -626.8400609564588, + 386.0913982063058, + -12.377840423819386 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -623.8400609564588, + 386.0913982063058, + -12.377840423819386 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -620.8400609564588, + 386.0913982063058, + -12.377840423819386 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -617.8400609564588, + 386.0913982063058, + -12.377840423819386 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -614.8400609564588, + 386.0913982063058, + -12.377840423819386 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -611.8400609564588, + 386.0913982063058, + -12.377840423819386 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -608.8400609564588, + 386.0913982063058, + -12.377840423819386 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -605.8400609564588, + 386.0913982063058, + -12.377840423819386 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -602.8400609564588, + 386.0913982063058, + -12.377840423819386 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -599.8400609564588, + 386.0913982063058, + -12.377840423819386 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -596.8400609564588, + 386.0913982063058, + -12.377840423819386 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -593.8400609564588, + 386.0913982063058, + -12.377840423819386 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -593.8400609564588, + 386.0913982063058, + -12.377840423819386 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 39, + "pos": [ + -591.2419847451056, + 387.5913982063058, + -12.377840423819386 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 40, + "pos": [ + -588.6439085337522, + 389.0913982063058, + -12.377840423819386 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-20-58_894429689/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-20-58_894429689/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..65687bd5942c8a0719def93e7f2583fe5d0d6724 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-20-58_894429689/pose.jsonl @@ -0,0 +1,1119 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -610.9168173127806, + 164.74265783797026, + -13.933423869930788 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + }, + "objects": [] +} +{ + "action": { + "imageid": 1, + "pos": [ + -608.3187411014273, + 163.24265783797026, + -13.933423869930788 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + }, + "objects": [] +} +{ + "action": { + "imageid": 2, + "pos": [ + -605.720664890074, + 161.74265783797026, + -13.933423869930788 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [] +} +{ + "action": { + "imageid": 3, + "pos": [ + -603.1225886787206, + 160.24265783797026, + -13.933423869930788 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [] +} +{ + "action": { + "imageid": 4, + "pos": [ + -600.5245124673672, + 158.74265783797026, + -13.933423869930788 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [] +} +{ + "action": { + "imageid": 5, + "pos": [ + -597.9264362560139, + 157.24265783797026, + -13.933423869930788 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [] +} +{ + "action": { + "imageid": 6, + "pos": [ + -595.3283600446605, + 155.74265783797026, + -13.933423869930788 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [] +} +{ + "action": { + "imageid": 7, + "pos": [ + -592.7302838333071, + 154.24265783797026, + -13.933423869930788 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [] +} +{ + "action": { + "imageid": 8, + "pos": [ + -590.1322076219537, + 152.74265783797026, + -13.933423869930788 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -587.5341314106004, + 151.24265783797026, + -13.933423869930788 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -584.936055199247, + 149.74265783797026, + -13.933423869930788 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -582.3379789878936, + 148.24265783797026, + -13.933423869930788 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -579.7399027765402, + 146.74265783797026, + -13.933423869930788 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -577.1418265651869, + 145.24265783797026, + -13.933423869930788 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -574.5437503538335, + 143.74265783797026, + -13.933423869930788 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -571.9456741424801, + 142.24265783797026, + -13.933423869930788 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -569.3475979311268, + 140.74265783797026, + -13.933423869930788 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -566.7495217197734, + 139.24265783797026, + -13.933423869930788 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -564.15144550842, + 137.74265783797026, + -13.933423869930788 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -561.5533692970666, + 136.24265783797026, + -13.933423869930788 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -558.9552930857133, + 134.74265783797026, + -13.933423869930788 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -556.3572168743599, + 133.24265783797026, + -13.933423869930788 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -553.7591406630065, + 131.74265783797026, + -13.933423869930788 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -551.1610644516531, + 130.24265783797026, + -13.933423869930788 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -548.5629882402998, + 128.74265783797026, + -13.933423869930788 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -548.5629882402998, + 128.74265783797026, + -13.933423869930788 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -547.0629882402998, + 126.14458162661694, + -13.933423869930788 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -545.5629882402998, + 123.54650541526362, + -13.933423869930788 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -544.0629882402998, + 120.94842920391031, + -13.933423869930788 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -542.5629882402998, + 118.35035299255699, + -13.933423869930788 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -541.0629882402998, + 115.75227678120368, + -13.933423869930788 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -539.5629882402998, + 113.15420056985036, + -13.933423869930788 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -538.0629882402998, + 110.55612435849704, + -13.933423869930788 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -536.5629882402998, + 107.95804814714373, + -13.933423869930788 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -535.0629882402998, + 105.35997193579041, + -13.933423869930788 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -533.5629882402998, + 102.7618957244371, + -13.933423869930788 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -532.0629882402998, + 100.16381951308378, + -13.933423869930788 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -530.5629882402998, + 97.56574330173046, + -13.933423869930788 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -529.0629882402998, + 94.96766709037715, + -13.933423869930788 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 39, + "pos": [ + -527.5629882402998, + 92.36959087902383, + -13.933423869930788 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 40, + "pos": [ + -527.5629882402998, + 92.36959087902383, + -13.933423869930788 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 41, + "pos": [ + -524.9649120289464, + 90.86959087902383, + -13.933423869930788 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 42, + "pos": [ + -522.366835817593, + 89.36959087902383, + -13.933423869930788 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-33-13_289700723/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-33-13_289700723/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..38f362e39c4e73051d2e841d9be35d7a2f7b9259 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-33-13_289700723/pose.jsonl @@ -0,0 +1,1116 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -333.08021749701436, + 613.883153011576, + -7.447256350913001 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [] +} +{ + "action": { + "imageid": 1, + "pos": [ + -334.58021749701436, + 611.2850768002227, + -7.447256350913001 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [] +} +{ + "action": { + "imageid": 2, + "pos": [ + -336.08021749701436, + 608.6870005888693, + -7.447256350913001 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [] +} +{ + "action": { + "imageid": 3, + "pos": [ + -337.58021749701436, + 606.0889243775159, + -7.447256350913001 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [] +} +{ + "action": { + "imageid": 4, + "pos": [ + -339.08021749701436, + 603.4908481661626, + -7.447256350913001 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [] +} +{ + "action": { + "imageid": 5, + "pos": [ + -340.58021749701436, + 600.8927719548092, + -7.447256350913001 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -342.08021749701436, + 598.2946957434558, + -7.447256350913001 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -343.58021749701436, + 595.6966195321024, + -7.447256350913001 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -345.08021749701436, + 593.0985433207491, + -7.447256350913001 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -346.58021749701436, + 590.5004671093957, + -7.447256350913001 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -348.08021749701436, + 587.9023908980423, + -7.447256350913001 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -349.58021749701436, + 585.3043146866889, + -7.447256350913001 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -351.08021749701436, + 582.7062384753356, + -7.447256350913001 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -352.58021749701436, + 580.1081622639822, + -7.447256350913001 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -354.08021749701436, + 577.5100860526288, + -7.447256350913001 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -355.58021749701436, + 574.9120098412754, + -7.447256350913001 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -357.08021749701436, + 572.3139336299221, + -7.447256350913001 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -358.58021749701436, + 569.7158574185687, + -7.447256350913001 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -360.08021749701436, + 567.1177812072153, + -7.447256350913001 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -361.58021749701436, + 564.519704995862, + -7.447256350913001 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -363.08021749701436, + 561.9216287845086, + -7.447256350913001 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -364.58021749701436, + 559.3235525731552, + -7.447256350913001 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -366.08021749701436, + 556.7254763618018, + -7.447256350913001 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -367.58021749701436, + 554.1274001504485, + -7.447256350913001 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -369.08021749701436, + 551.5293239390951, + -7.447256350913001 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -370.58021749701436, + 548.9312477277417, + -7.447256350913001 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -372.08021749701436, + 546.3331715163883, + -7.447256350913001 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -373.58021749701436, + 543.735095305035, + -7.447256350913001 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -375.08021749701436, + 541.1370190936816, + -7.447256350913001 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -376.58021749701436, + 538.5389428823282, + -7.447256350913001 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -378.08021749701436, + 535.9408666709749, + -7.447256350913001 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -379.58021749701436, + 533.3427904596215, + -7.447256350913001 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -381.08021749701436, + 530.7447142482681, + -7.447256350913001 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -382.58021749701436, + 528.1466380369147, + -7.447256350913001 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -384.08021749701436, + 525.5485618255614, + -7.447256350913001 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -385.58021749701436, + 522.950485614208, + -7.447256350913001 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -385.58021749701436, + 522.950485614208, + -7.447256350913001 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -388.1782937083677, + 521.450485614208, + -7.447256350913001 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -390.776369919721, + 519.950485614208, + -7.447256350913001 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 39, + "pos": [ + -393.3744461310743, + 518.450485614208, + -7.447256350913001 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-35-34_1231192379/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-35-34_1231192379/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..97915df9598c00f5f1886856fafcf236efccb596 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-35-34_1231192379/pose.jsonl @@ -0,0 +1,893 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -571.8655892479065, + 266.11196654761767, + -3.591228215275205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -570.3655892479065, + 263.51389033626435, + -3.591228215275205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -568.8655892479065, + 260.91581412491104, + -3.591228215275205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -567.3655892479065, + 258.3177379135577, + -3.591228215275205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -565.8655892479065, + 255.7196617022044, + -3.591228215275205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -564.3655892479065, + 253.1215854908511, + -3.591228215275205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -562.8655892479065, + 250.52350927949777, + -3.591228215275205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -561.3655892479065, + 247.92543306814446, + -3.591228215275205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -559.8655892479065, + 245.32735685679114, + -3.591228215275205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -558.3655892479065, + 242.72928064543783, + -3.591228215275205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -556.8655892479065, + 240.1312044340845, + -3.591228215275205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -555.3655892479065, + 237.5331282227312, + -3.591228215275205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -553.8655892479065, + 234.93505201137788, + -3.591228215275205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -552.3655892479065, + 232.33697580002456, + -3.591228215275205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -550.8655892479065, + 229.73889958867125, + -3.591228215275205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -549.3655892479065, + 227.14082337731793, + -3.591228215275205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -547.8655892479065, + 224.5427471659646, + -3.591228215275205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -546.3655892479065, + 221.9446709546113, + -3.591228215275205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -544.8655892479065, + 219.34659474325798, + -3.591228215275205 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -544.8655892479065, + 219.34659474325798, + -3.591228215275205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -544.8655892479065, + 216.34659474325798, + -3.591228215275205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -544.8655892479065, + 213.34659474325798, + -3.591228215275205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -544.8655892479065, + 210.34659474325798, + -3.591228215275205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -544.8655892479065, + 207.34659474325798, + -3.591228215275205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -544.8655892479065, + 204.34659474325798, + -3.591228215275205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -544.8655892479065, + 201.34659474325798, + -3.591228215275205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -544.8655892479065, + 198.34659474325798, + -3.591228215275205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -544.8655892479065, + 195.34659474325798, + -3.591228215275205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -544.8655892479065, + 192.34659474325798, + -3.591228215275205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -544.8655892479065, + 189.34659474325798, + -3.591228215275205 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-37-52_269441500/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-37-52_269441500/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f8ad59a2959e6aede3d014dcf7d436d4f4c0ad0d --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-37-52_269441500/pose.jsonl @@ -0,0 +1,1570 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -542.013154868897, + 396.1486465014917, + -15.009096035079011 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -540.513154868897, + 398.74672271284504, + -15.009096035079011 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -539.013154868897, + 401.34479892419836, + -15.009096035079011 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -537.513154868897, + 403.9428751355517, + -15.009096035079011 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -536.013154868897, + 406.540951346905, + -15.009096035079011 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -534.513154868897, + 409.1390275582583, + -15.009096035079011 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -533.013154868897, + 411.7371037696116, + -15.009096035079011 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -531.513154868897, + 414.33517998096494, + -15.009096035079011 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -530.013154868897, + 416.93325619231825, + -15.009096035079011 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -528.513154868897, + 419.53133240367157, + -15.009096035079011 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -527.013154868897, + 422.1294086150249, + -15.009096035079011 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -525.513154868897, + 424.7274848263782, + -15.009096035079011 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -524.013154868897, + 427.3255610377315, + -15.009096035079011 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -522.513154868897, + 429.92363724908483, + -15.009096035079011 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -521.013154868897, + 432.52171346043815, + -15.009096035079011 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -519.513154868897, + 435.11978967179147, + -15.009096035079011 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -518.013154868897, + 437.7178658831448, + -15.009096035079011 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -516.513154868897, + 440.3159420944981, + -15.009096035079011 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -515.013154868897, + 442.9140183058514, + -15.009096035079011 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -513.513154868897, + 445.51209451720473, + -15.009096035079011 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -512.013154868897, + 448.11017072855805, + -15.009096035079011 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -510.513154868897, + 450.70824693991136, + -15.009096035079011 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -509.013154868897, + 453.3063231512647, + -15.009096035079011 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -507.513154868897, + 455.904399362618, + -15.009096035079011 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -506.013154868897, + 458.5024755739713, + -15.009096035079011 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -504.513154868897, + 461.1005517853246, + -15.009096035079011 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -503.013154868897, + 463.69862799667794, + -15.009096035079011 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -503.013154868897, + 463.69862799667794, + -15.009096035079011 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -500.4150786575437, + 465.19862799667794, + -15.009096035079011 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -497.8170024461904, + 466.69862799667794, + -15.009096035079011 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -495.21892623483706, + 468.19862799667794, + -15.009096035079011 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -492.62085002348374, + 469.69862799667794, + -15.009096035079011 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -490.0227738121304, + 471.19862799667794, + -15.009096035079011 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -487.4246976007771, + 472.69862799667794, + -15.009096035079011 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -484.8266213894238, + 474.19862799667794, + -15.009096035079011 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -482.2285451780705, + 475.69862799667794, + -15.009096035079011 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -479.63046896671716, + 477.19862799667794, + -15.009096035079011 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-39-52_1982275856/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-39-52_1982275856/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a47cf8cd08020ee9e3ef6ffe9b25dc6665bde584 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-39-52_1982275856/pose.jsonl @@ -0,0 +1,1764 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -575.6906503823707, + 639.4366813722954, + -25.89420479662509 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -573.0925741710173, + 637.9366813722954, + -25.89420479662509 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -570.4944979596639, + 636.4366813722954, + -25.89420479662509 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -567.8964217483106, + 634.9366813722954, + -25.89420479662509 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -565.2983455369572, + 633.4366813722954, + -25.89420479662509 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -562.7002693256038, + 631.9366813722954, + -25.89420479662509 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -560.1021931142504, + 630.4366813722954, + -25.89420479662509 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -557.5041169028971, + 628.9366813722954, + -25.89420479662509 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -554.9060406915437, + 627.4366813722954, + -25.89420479662509 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -552.3079644801903, + 625.9366813722954, + -25.89420479662509 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -549.709888268837, + 624.4366813722954, + -25.89420479662509 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -547.1118120574836, + 622.9366813722954, + -25.89420479662509 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -544.5137358461302, + 621.4366813722954, + -25.89420479662509 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -541.9156596347768, + 619.9366813722954, + -25.89420479662509 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -539.3175834234235, + 618.4366813722954, + -25.89420479662509 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -536.7195072120701, + 616.9366813722954, + -25.89420479662509 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -534.1214310007167, + 615.4366813722954, + -25.89420479662509 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -531.5233547893633, + 613.9366813722954, + -25.89420479662509 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -528.92527857801, + 612.4366813722954, + -25.89420479662509 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -526.3272023666566, + 610.9366813722954, + -25.89420479662509 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -523.7291261553032, + 609.4366813722954, + -25.89420479662509 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -521.1310499439498, + 607.9366813722954, + -25.89420479662509 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -518.5329737325965, + 606.4366813722954, + -25.89420479662509 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -515.9348975212431, + 604.9366813722954, + -25.89420479662509 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -513.3368213098897, + 603.4366813722954, + -25.89420479662509 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -510.7387450985364, + 601.9366813722954, + -25.89420479662509 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -508.1406688871831, + 600.4366813722954, + -25.89420479662509 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -505.5425926758298, + 598.9366813722954, + -25.89420479662509 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -505.5425926758298, + 598.9366813722954, + -25.89420479662509 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -502.5425926758298, + 598.9366813722954, + -25.89420479662509 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-44-49_653468858/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-44-49_653468858/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..088875f83b5d0fa7b24b7793136cef0c0969de95 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-44-49_653468858/pose.jsonl @@ -0,0 +1,2114 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -704.1822479732904, + 631.0890147101001, + -16.298845375603186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -705.6822479732904, + 628.4909384987468, + -16.298845375603186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -707.1822479732904, + 625.8928622873934, + -16.298845375603186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -708.6822479732904, + 623.29478607604, + -16.298845375603186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -710.1822479732904, + 620.6967098646867, + -16.298845375603186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -711.6822479732904, + 618.0986336533333, + -16.298845375603186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -713.1822479732904, + 615.5005574419799, + -16.298845375603186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -714.6822479732904, + 612.9024812306266, + -16.298845375603186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -716.1822479732904, + 610.3044050192732, + -16.298845375603186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -717.6822479732904, + 607.7063288079198, + -16.298845375603186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -719.1822479732904, + 605.1082525965664, + -16.298845375603186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -720.6822479732904, + 602.5101763852131, + -16.298845375603186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -722.1822479732904, + 599.9121001738597, + -16.298845375603186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -723.6822479732904, + 597.3140239625063, + -16.298845375603186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -725.1822479732904, + 594.715947751153, + -16.298845375603186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -726.6822479732904, + 592.1178715397996, + -16.298845375603186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -728.1822479732904, + 589.5197953284462, + -16.298845375603186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -729.6822479732904, + 586.9217191170928, + -16.298845375603186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -731.1822479732904, + 584.3236429057395, + -16.298845375603186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -732.6822479732904, + 581.7255666943861, + -16.298845375603186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -734.1822479732904, + 579.1274904830327, + -16.298845375603186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -735.6822479732904, + 576.5294142716793, + -16.298845375603186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -737.1822479732904, + 573.931338060326, + -16.298845375603186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -738.6822479732904, + 571.3332618489726, + -16.298845375603186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -740.1822479732904, + 568.7351856376192, + -16.298845375603186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -741.6822479732904, + 566.1371094262659, + -16.298845375603186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -743.1822479732904, + 563.5390332149125, + -16.298845375603186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -744.6822479732904, + 560.9409570035591, + -16.298845375603186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -746.1822479732904, + 558.3428807922057, + -16.298845375603186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -747.6822479732904, + 555.7448045808524, + -16.298845375603186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -749.1822479732904, + 553.146728369499, + -16.298845375603186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -750.6822479732904, + 550.5486521581456, + -16.298845375603186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -752.1822479732904, + 547.9505759467922, + -16.298845375603186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -753.6822479732904, + 545.3524997354389, + -16.298845375603186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -755.1822479732904, + 542.7544235240855, + -16.298845375603186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -756.6822479732904, + 540.1563473127321, + -16.298845375603186 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-46-29_1350573793/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-46-29_1350573793/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b6fd87b3fd270567b9424aa3fac0a0a673af7636 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-46-29_1350573793/pose.jsonl @@ -0,0 +1,767 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -659.4901293216351, + 538.0405507651839, + -27.562262568232963 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 1, + "pos": [ + -662.4901293216351, + 538.0405507651839, + -27.562262568232963 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 2, + "pos": [ + -665.4901293216351, + 538.0405507651839, + -27.562262568232963 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 3, + "pos": [ + -668.4901293216351, + 538.0405507651839, + -27.562262568232963 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 4, + "pos": [ + -671.4901293216351, + 538.0405507651839, + -27.562262568232963 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 5, + "pos": [ + -674.4901293216351, + 538.0405507651839, + -27.562262568232963 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 6, + "pos": [ + -677.4901293216351, + 538.0405507651839, + -27.562262568232963 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 7, + "pos": [ + -680.4901293216351, + 538.0405507651839, + -27.562262568232963 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 8, + "pos": [ + -683.4901293216351, + 538.0405507651839, + -27.562262568232963 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 9, + "pos": [ + -686.4901293216351, + 538.0405507651839, + -27.562262568232963 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 10, + "pos": [ + -689.4901293216351, + 538.0405507651839, + -27.562262568232963 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 11, + "pos": [ + -692.4901293216351, + 538.0405507651839, + -27.562262568232963 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 12, + "pos": [ + -695.4901293216351, + 538.0405507651839, + -27.562262568232963 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 13, + "pos": [ + -698.4901293216351, + 538.0405507651839, + -27.562262568232963 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -701.4901293216351, + 538.0405507651839, + -27.562262568232963 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -704.4901293216351, + 538.0405507651839, + -27.562262568232963 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -707.4901293216351, + 538.0405507651839, + -27.562262568232963 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -710.4901293216351, + 538.0405507651839, + -27.562262568232963 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -713.4901293216351, + 538.0405507651839, + -27.562262568232963 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -716.4901293216351, + 538.0405507651839, + -27.562262568232963 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -719.4901293216351, + 538.0405507651839, + -27.562262568232963 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -722.4901293216351, + 538.0405507651839, + -27.562262568232963 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -725.4901293216351, + 538.0405507651839, + -27.562262568232963 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -728.4901293216351, + 538.0405507651839, + -27.562262568232963 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -731.4901293216351, + 538.0405507651839, + -27.562262568232963 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -734.4901293216351, + 538.0405507651839, + -27.562262568232963 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -737.4901293216351, + 538.0405507651839, + -27.562262568232963 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -740.4901293216351, + 538.0405507651839, + -27.562262568232963 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -743.4901293216351, + 538.0405507651839, + -27.562262568232963 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -746.4901293216351, + 538.0405507651839, + -27.562262568232963 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -818.838436126709, + 605.0398750305176, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -749.4901293216351, + 538.0405507651839, + -27.562262568232963 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -818.838436126709, + 605.0398750305176, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -752.4901293216351, + 538.0405507651839, + -27.562262568232963 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -818.838436126709, + 605.0398750305176, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-47-30_1789366143/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-47-30_1789366143/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d6f0e6d637a7bf666656097087a3538bdf4f9257 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-47-30_1789366143/pose.jsonl @@ -0,0 +1,809 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -124.71606037043024, + 639.5093688060659, + -12.296995823800234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -123.21606037043024, + 636.9112925947127, + -12.296995823800234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -121.71606037043024, + 634.3132163833593, + -12.296995823800234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -120.21606037043024, + 631.7151401720059, + -12.296995823800234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -118.71606037043024, + 629.1170639606526, + -12.296995823800234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -117.21606037043024, + 626.5189877492992, + -12.296995823800234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -115.71606037043024, + 623.9209115379458, + -12.296995823800234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -114.21606037043024, + 621.3228353265924, + -12.296995823800234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -112.71606037043024, + 618.7247591152391, + -12.296995823800234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -111.21606037043024, + 616.1266829038857, + -12.296995823800234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -109.71606037043024, + 613.5286066925323, + -12.296995823800234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -108.21606037043024, + 610.930530481179, + -12.296995823800234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -106.71606037043024, + 608.3324542698256, + -12.296995823800234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -105.21606037043024, + 605.7343780584722, + -12.296995823800234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -103.71606037043024, + 603.1363018471188, + -12.296995823800234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -102.21606037043024, + 600.5382256357655, + -12.296995823800234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -100.71606037043024, + 597.9401494244121, + -12.296995823800234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -99.21606037043024, + 595.3420732130587, + -12.296995823800234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -97.71606037043024, + 592.7439970017053, + -12.296995823800234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -96.21606037043024, + 590.145920790352, + -12.296995823800234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -94.71606037043024, + 587.5478445789986, + -12.296995823800234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -93.21606037043024, + 584.9497683676452, + -12.296995823800234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -91.71606037043024, + 582.3516921562918, + -12.296995823800234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -90.21606037043024, + 579.7536159449385, + -12.296995823800234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -88.71606037043024, + 577.1555397335851, + -12.296995823800234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -87.21606037043024, + 574.5574635222317, + -12.296995823800234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -85.71606037043024, + 571.9593873108784, + -12.296995823800234 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-49-4_1597322404/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-49-4_1597322404/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..56a4cdceafb2223e979f92b9af69336ab9d51680 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-49-4_1597322404/pose.jsonl @@ -0,0 +1,1327 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -380.61295961400486, + 414.72496486517343, + -17.029066679600582 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -378.01488340265155, + 416.22496486517343, + -17.029066679600582 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -375.41680719129823, + 417.72496486517343, + -17.029066679600582 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -372.8187309799449, + 419.22496486517343, + -17.029066679600582 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -370.2206547685916, + 420.72496486517343, + -17.029066679600582 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -367.6225785572383, + 422.22496486517343, + -17.029066679600582 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -365.02450234588497, + 423.72496486517343, + -17.029066679600582 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -362.42642613453165, + 425.22496486517343, + -17.029066679600582 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -359.82834992317834, + 426.72496486517343, + -17.029066679600582 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -357.230273711825, + 428.22496486517343, + -17.029066679600582 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -354.6321975004717, + 429.72496486517343, + -17.029066679600582 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -352.0341212891184, + 431.22496486517343, + -17.029066679600582 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -349.4360450777651, + 432.72496486517343, + -17.029066679600582 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -346.83796886641176, + 434.22496486517343, + -17.029066679600582 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -344.23989265505844, + 435.72496486517343, + -17.029066679600582 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -341.6418164437051, + 437.22496486517343, + -17.029066679600582 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -339.0437402323518, + 438.72496486517343, + -17.029066679600582 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -336.4456640209985, + 440.22496486517343, + -17.029066679600582 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -333.8475878096452, + 441.72496486517343, + -17.029066679600582 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -331.24951159829186, + 443.22496486517343, + -17.029066679600582 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -328.65143538693854, + 444.72496486517343, + -17.029066679600582 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -326.05335917558523, + 446.22496486517343, + -17.029066679600582 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -323.4552829642319, + 447.72496486517343, + -17.029066679600582 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -320.8572067528786, + 449.22496486517343, + -17.029066679600582 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -318.2591305415253, + 450.72496486517343, + -17.029066679600582 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -315.66105433017196, + 452.22496486517343, + -17.029066679600582 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -315.66105433017196, + 452.22496486517343, + -17.029066679600582 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -314.16105433017196, + 454.82304107652675, + -17.029066679600582 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -312.66105433017196, + 457.42111728788007, + -17.029066679600582 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -311.16105433017196, + 460.0191934992334, + -17.029066679600582 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -309.66105433017196, + 462.6172697105867, + -17.029066679600582 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -308.16105433017196, + 465.21534592194, + -17.029066679600582 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [] +} +{ + "action": { + "imageid": 32, + "pos": [ + -306.66105433017196, + 467.81342213329333, + -17.029066679600582 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-53-46_680466996/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-53-46_680466996/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e929dc47365808d20a932607ccb0ed4ba7f55ac6 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-53-46_680466996/pose.jsonl @@ -0,0 +1,882 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 249.19953630002408, + 99.58078166157841, + -7.011065620233005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 1, + "pos": [ + 246.60146008867076, + 101.08078166157841, + -7.011065620233005 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 2, + "pos": [ + 246.60146008867076, + 101.08078166157841, + -7.011065620233005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + }, + "objects": [] +} +{ + "action": { + "imageid": 3, + "pos": [ + 245.10146008867076, + 103.67885787293173, + -7.011065620233005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [] +} +{ + "action": { + "imageid": 4, + "pos": [ + 243.60146008867076, + 106.27693408428505, + -7.011065620233005 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + }, + "objects": [] +} +{ + "action": { + "imageid": 5, + "pos": [ + 243.60146008867076, + 106.27693408428505, + -7.011065620233005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + }, + "objects": [] +} +{ + "action": { + "imageid": 6, + "pos": [ + 241.00338387731745, + 107.77693408428505, + -7.011065620233005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 7, + "pos": [ + 238.40530766596413, + 109.27693408428505, + -7.011065620233005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 8, + "pos": [ + 235.80723145461081, + 110.77693408428505, + -7.011065620233005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 9, + "pos": [ + 233.2091552432575, + 112.27693408428505, + -7.011065620233005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + 230.61107903190418, + 113.77693408428505, + -7.011065620233005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + 228.01300282055087, + 115.27693408428505, + -7.011065620233005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + 225.41492660919755, + 116.77693408428505, + -7.011065620233005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + 222.81685039784423, + 118.27693408428505, + -7.011065620233005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + 220.21877418649092, + 119.77693408428505, + -7.011065620233005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + 217.6206979751376, + 121.27693408428505, + -7.011065620233005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 16, + "pos": [ + 215.0226217637843, + 122.77693408428505, + -7.011065620233005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 17, + "pos": [ + 212.42454555243097, + 124.27693408428505, + -7.011065620233005 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 18, + "pos": [ + 212.42454555243097, + 124.27693408428505, + -7.011065620233005 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 19, + "pos": [ + 209.42454555243097, + 124.27693408428505, + -7.011065620233005 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 20, + "pos": [ + 206.42454555243097, + 124.27693408428505, + -7.011065620233005 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 21, + "pos": [ + 203.42454555243097, + 124.27693408428505, + -7.011065620233005 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 22, + "pos": [ + 200.42454555243097, + 124.27693408428505, + -7.011065620233005 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 23, + "pos": [ + 197.42454555243097, + 124.27693408428505, + -7.011065620233005 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 24, + "pos": [ + 194.42454555243097, + 124.27693408428505, + -7.011065620233005 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 25, + "pos": [ + 191.42454555243097, + 124.27693408428505, + -7.011065620233005 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 26, + "pos": [ + 188.42454555243097, + 124.27693408428505, + -7.011065620233005 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 27, + "pos": [ + 185.42454555243097, + 124.27693408428505, + -7.011065620233005 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 28, + "pos": [ + 182.42454555243097, + 124.27693408428505, + -7.011065620233005 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 29, + "pos": [ + 179.42454555243097, + 124.27693408428505, + -7.011065620233005 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 30, + "pos": [ + 176.42454555243097, + 124.27693408428505, + -7.011065620233005 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 31, + "pos": [ + 173.42454555243097, + 124.27693408428505, + -7.011065620233005 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 32, + "pos": [ + 170.42454555243097, + 124.27693408428505, + -7.011065620233005 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + 167.42454555243097, + 124.27693408428505, + -7.011065620233005 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + 164.42454555243097, + 124.27693408428505, + -7.011065620233005 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + 161.42454555243097, + 124.27693408428505, + -7.011065620233005 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + 158.42454555243097, + 124.27693408428505, + -7.011065620233005 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + 155.42454555243097, + 124.27693408428505, + -7.011065620233005 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + 152.42454555243097, + 124.27693408428505, + -7.011065620233005 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 39, + "pos": [ + 149.42454555243097, + 124.27693408428505, + -7.011065620233005 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 40, + "pos": [ + 146.42454555243097, + 124.27693408428505, + -7.011065620233005 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 41, + "pos": [ + 143.42454555243097, + 124.27693408428505, + -7.011065620233005 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 42, + "pos": [ + 140.42454555243097, + 124.27693408428505, + -7.011065620233005 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 43, + "pos": [ + 137.42454555243097, + 124.27693408428505, + -7.011065620233005 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-56-32_2086206725/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-56-32_2086206725/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e8292d7991e32de7ffbb455232bf2c719e9b7cd3 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-56-32_2086206725/pose.jsonl @@ -0,0 +1,896 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -404.2692375823563, + 117.67746124396066, + -29.924881592000286 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -406.8673137937096, + 116.17746124396066, + -29.924881592000286 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -409.46539000506294, + 114.67746124396066, + -29.924881592000286 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -412.06346621641626, + 113.17746124396066, + -29.924881592000286 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -414.6615424277696, + 111.67746124396066, + -29.924881592000286 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -417.2596186391229, + 110.17746124396066, + -29.924881592000286 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -419.8576948504762, + 108.67746124396066, + -29.924881592000286 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 7, + "pos": [ + -422.4557710618295, + 107.17746124396066, + -29.924881592000286 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 8, + "pos": [ + -425.05384727318284, + 105.67746124396066, + -29.924881592000286 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -427.65192348453616, + 104.17746124396066, + -29.924881592000286 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -430.24999969588947, + 102.67746124396066, + -29.924881592000286 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -432.8480759072428, + 101.17746124396066, + -29.924881592000286 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -435.4461521185961, + 99.67746124396066, + -29.924881592000286 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -438.0442283299494, + 98.17746124396066, + -29.924881592000286 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -440.64230454130274, + 96.67746124396066, + -29.924881592000286 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -443.24038075265605, + 95.17746124396066, + -29.924881592000286 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -445.83845696400937, + 93.67746124396066, + -29.924881592000286 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -448.4365331753627, + 92.17746124396066, + -29.924881592000286 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -451.034609386716, + 90.67746124396066, + -29.924881592000286 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -453.6326855980693, + 89.17746124396066, + -29.924881592000286 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -453.6326855980693, + 89.17746124396066, + -29.924881592000286 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -456.6326855980693, + 89.17746124396066, + -29.924881592000286 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 22, + "pos": [ + -459.6326855980693, + 89.17746124396066, + -29.924881592000286 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 23, + "pos": [ + -462.6326855980693, + 89.17746124396066, + -29.924881592000286 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 24, + "pos": [ + -465.6326855980693, + 89.17746124396066, + -29.924881592000286 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 25, + "pos": [ + -468.6326855980693, + 89.17746124396066, + -29.924881592000286 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 26, + "pos": [ + -471.6326855980693, + 89.17746124396066, + -29.924881592000286 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 27, + "pos": [ + -474.6326855980693, + 89.17746124396066, + -29.924881592000286 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 28, + "pos": [ + -477.6326855980693, + 89.17746124396066, + -29.924881592000286 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 29, + "pos": [ + -480.6326855980693, + 89.17746124396066, + -29.924881592000286 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 30, + "pos": [ + -483.6326855980693, + 89.17746124396066, + -29.924881592000286 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 31, + "pos": [ + -486.6326855980693, + 89.17746124396066, + -29.924881592000286 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 32, + "pos": [ + -489.6326855980693, + 89.17746124396066, + -29.924881592000286 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 33, + "pos": [ + -492.6326855980693, + 89.17746124396066, + -29.924881592000286 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 34, + "pos": [ + -495.6326855980693, + 89.17746124396066, + -29.924881592000286 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 35, + "pos": [ + -498.6326855980693, + 89.17746124396066, + -29.924881592000286 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 36, + "pos": [ + -501.6326855980693, + 89.17746124396066, + -29.924881592000286 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 37, + "pos": [ + -504.6326855980693, + 89.17746124396066, + -29.924881592000286 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 38, + "pos": [ + -507.6326855980693, + 89.17746124396066, + -29.924881592000286 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 39, + "pos": [ + -510.6326855980693, + 89.17746124396066, + -29.924881592000286 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 40, + "pos": [ + -513.6326855980693, + 89.17746124396066, + -29.924881592000286 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 41, + "pos": [ + -513.6326855980693, + 89.17746124396066, + -29.924881592000286 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + }, + "objects": [] +} +{ + "action": { + "imageid": 42, + "pos": [ + -516.2307618094226, + 87.67746124396066, + -29.924881592000286 + ], + "type": "stop", + "value": 0, + "yaw": -2.617993877991485 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_16-0-6_933110197/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_16-0-6_933110197/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..caf94f7451c31d9e736bef78319c36be722781db --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_16-0-6_933110197/pose.jsonl @@ -0,0 +1,949 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -310.07041704098253, + 131.60477792568975, + -27.04473202211894 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -395.35422134399414, + 176.95641708374023, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -313.07041704098253, + 131.60477792568975, + -27.04473202211894 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -395.35422134399414, + 176.95641708374023, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -316.07041704098253, + 131.60477792568975, + -27.04473202211894 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -395.35422134399414, + 176.95641708374023, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -319.07041704098253, + 131.60477792568975, + -27.04473202211894 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -395.35422134399414, + 176.95641708374023, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -322.07041704098253, + 131.60477792568975, + -27.04473202211894 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -395.35422134399414, + 176.95641708374023, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -325.07041704098253, + 131.60477792568975, + -27.04473202211894 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -395.35422134399414, + 176.95641708374023, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -328.07041704098253, + 131.60477792568975, + -27.04473202211894 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -395.35422134399414, + 176.95641708374023, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -331.07041704098253, + 131.60477792568975, + -27.04473202211894 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -395.35422134399414, + 176.95641708374023, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -334.07041704098253, + 131.60477792568975, + -27.04473202211894 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -395.35422134399414, + 176.95641708374023, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -337.07041704098253, + 131.60477792568975, + -27.04473202211894 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -395.35422134399414, + 176.95641708374023, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -340.07041704098253, + 131.60477792568975, + -27.04473202211894 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -395.35422134399414, + 176.95641708374023, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -343.07041704098253, + 131.60477792568975, + -27.04473202211894 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -395.35422134399414, + 176.95641708374023, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -346.07041704098253, + 131.60477792568975, + -27.04473202211894 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -395.35422134399414, + 176.95641708374023, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -349.07041704098253, + 131.60477792568975, + -27.04473202211894 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -395.35422134399414, + 176.95641708374023, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -352.07041704098253, + 131.60477792568975, + -27.04473202211894 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -395.35422134399414, + 176.95641708374023, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -355.07041704098253, + 131.60477792568975, + -27.04473202211894 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -395.35422134399414, + 176.95641708374023, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -358.07041704098253, + 131.60477792568975, + -27.04473202211894 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 17, + "pos": [ + -361.07041704098253, + 131.60477792568975, + -27.04473202211894 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 18, + "pos": [ + -364.07041704098253, + 131.60477792568975, + -27.04473202211894 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 19, + "pos": [ + -367.07041704098253, + 131.60477792568975, + -27.04473202211894 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 20, + "pos": [ + -370.07041704098253, + 131.60477792568975, + -27.04473202211894 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 21, + "pos": [ + -373.07041704098253, + 131.60477792568975, + -27.04473202211894 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 22, + "pos": [ + -376.07041704098253, + 131.60477792568975, + -27.04473202211894 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 23, + "pos": [ + -379.07041704098253, + 131.60477792568975, + -27.04473202211894 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 24, + "pos": [ + -382.07041704098253, + 131.60477792568975, + -27.04473202211894 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 25, + "pos": [ + -385.07041704098253, + 131.60477792568975, + -27.04473202211894 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 26, + "pos": [ + -388.07041704098253, + 131.60477792568975, + -27.04473202211894 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 27, + "pos": [ + -391.07041704098253, + 131.60477792568975, + -27.04473202211894 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 28, + "pos": [ + -394.07041704098253, + 131.60477792568975, + -27.04473202211894 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 29, + "pos": [ + -397.07041704098253, + 131.60477792568975, + -27.04473202211894 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 30, + "pos": [ + -400.07041704098253, + 131.60477792568975, + -27.04473202211894 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 31, + "pos": [ + -403.07041704098253, + 131.60477792568975, + -27.04473202211894 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 32, + "pos": [ + -403.07041704098253, + 131.60477792568975, + -27.04473202211894 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + }, + "objects": [] +} +{ + "action": { + "imageid": 33, + "pos": [ + -405.66849325233585, + 130.10477792568975, + -27.04473202211894 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -408.26656946368917, + 128.60477792568975, + -27.04473202211894 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -410.8646456750425, + 127.10477792568975, + -27.04473202211894 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -413.4627218863958, + 125.60477792568975, + -27.04473202211894 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -416.0607980977491, + 124.10477792568975, + -27.04473202211894 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -418.65887430910243, + 122.60477792568975, + -27.04473202211894 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 39, + "pos": [ + -421.25695052045575, + 121.10477792568975, + -27.04473202211894 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 40, + "pos": [ + -423.85502673180906, + 119.60477792568975, + -27.04473202211894 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + }, + "objects": [] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_16-13-22_1273911899/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_16-13-22_1273911899/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5338ef3dbe90323036c8b592d6fdd66dd5d9fd16 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_16-13-22_1273911899/pose.jsonl @@ -0,0 +1,1563 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -604.8086549538896, + 517.3115487049199, + -26.152804131147487 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -607.8086549538896, + 517.3115487049199, + -26.152804131147487 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -610.8086549538896, + 517.3115487049199, + -26.152804131147487 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -613.8086549538896, + 517.3115487049199, + -26.152804131147487 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -616.8086549538896, + 517.3115487049199, + -26.152804131147487 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -619.8086549538896, + 517.3115487049199, + -26.152804131147487 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 6, + "pos": [ + -622.8086549538896, + 517.3115487049199, + -26.152804131147487 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 7, + "pos": [ + -625.8086549538896, + 517.3115487049199, + -26.152804131147487 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -628.8086549538896, + 517.3115487049199, + -26.152804131147487 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -631.8086549538896, + 517.3115487049199, + -26.152804131147487 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -634.8086549538896, + 517.3115487049199, + -26.152804131147487 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -637.8086549538896, + 517.3115487049199, + -26.152804131147487 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -640.8086549538896, + 517.3115487049199, + -26.152804131147487 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -643.8086549538896, + 517.3115487049199, + -26.152804131147487 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -646.8086549538896, + 517.3115487049199, + -26.152804131147487 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -649.8086549538896, + 517.3115487049199, + -26.152804131147487 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -652.8086549538896, + 517.3115487049199, + -26.152804131147487 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -655.8086549538896, + 517.3115487049199, + -26.152804131147487 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -658.8086549538896, + 517.3115487049199, + -26.152804131147487 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -661.8086549538896, + 517.3115487049199, + -26.152804131147487 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -664.8086549538896, + 517.3115487049199, + -26.152804131147487 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -667.8086549538896, + 517.3115487049199, + -26.152804131147487 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -670.8086549538896, + 517.3115487049199, + -26.152804131147487 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -673.8086549538896, + 517.3115487049199, + -26.152804131147487 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -676.8086549538896, + 517.3115487049199, + -26.152804131147487 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -679.8086549538896, + 517.3115487049199, + -26.152804131147487 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -682.8086549538896, + 517.3115487049199, + -26.152804131147487 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -685.8086549538896, + 517.3115487049199, + -26.152804131147487 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -688.8086549538896, + 517.3115487049199, + -26.152804131147487 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -691.8086549538896, + 517.3115487049199, + -26.152804131147487 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -694.8086549538896, + 517.3115487049199, + -26.152804131147487 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -697.8086549538896, + 517.3115487049199, + -26.152804131147487 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -700.8086549538896, + 517.3115487049199, + -26.152804131147487 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -703.8086549538896, + 517.3115487049199, + -26.152804131147487 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -706.8086549538896, + 517.3115487049199, + -26.152804131147487 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -709.8086549538896, + 517.3115487049199, + -26.152804131147487 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -712.8086549538896, + 517.3115487049199, + -26.152804131147487 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -712.8086549538896, + 517.3115487049199, + -26.152804131147487 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -715.406731165243, + 518.8115487049199, + -26.152804131147487 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 39, + "pos": [ + -718.0048073765963, + 520.3115487049199, + -26.152804131147487 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 40, + "pos": [ + -720.6028835879497, + 521.8115487049199, + -26.152804131147487 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_16-19-38_824272813/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_16-19-38_824272813/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..304fb681053d341fe2f3e783894d8b799dc54009 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_16-19-38_824272813/pose.jsonl @@ -0,0 +1,840 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -46.52567801066766, + 386.28421780602605, + -26.134556779150863 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -48.02567801066766, + 388.88229401737937, + -26.134556779150863 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -49.52567801066766, + 391.4803702287327, + -26.134556779150863 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -51.02567801066766, + 394.078446440086, + -26.134556779150863 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -52.52567801066766, + 396.6765226514393, + -26.134556779150863 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -54.02567801066766, + 399.27459886279263, + -26.134556779150863 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -55.52567801066766, + 401.87267507414595, + -26.134556779150863 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -57.02567801066766, + 404.47075128549926, + -26.134556779150863 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -58.52567801066766, + 407.0688274968526, + -26.134556779150863 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -60.02567801066766, + 409.6669037082059, + -26.134556779150863 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -61.52567801066766, + 412.2649799195592, + -26.134556779150863 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -63.02567801066766, + 414.8630561309125, + -26.134556779150863 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -64.52567801066766, + 417.46113234226584, + -26.134556779150863 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -66.02567801066766, + 420.05920855361916, + -26.134556779150863 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -67.52567801066766, + 422.6572847649725, + -26.134556779150863 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -69.02567801066766, + 425.2553609763258, + -26.134556779150863 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -70.52567801066766, + 427.8534371876791, + -26.134556779150863 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -72.02567801066766, + 430.4515133990324, + -26.134556779150863 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -73.52567801066766, + 433.04958961038574, + -26.134556779150863 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -75.02567801066766, + 435.64766582173905, + -26.134556779150863 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -76.52567801066766, + 438.24574203309237, + -26.134556779150863 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -78.02567801066766, + 440.8438182444457, + -26.134556779150863 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -79.52567801066766, + 443.441894455799, + -26.134556779150863 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -81.02567801066766, + 446.0399706671523, + -26.134556779150863 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -82.52567801066766, + 448.63804687850563, + -26.134556779150863 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -82.52567801066766, + 448.63804687850563, + -26.134556779150863 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -82.52567801066766, + 451.63804687850563, + -26.134556779150863 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -82.52567801066766, + 454.63804687850563, + -26.134556779150863 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -82.52567801066766, + 457.63804687850563, + -26.134556779150863 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [] +} +{ + "action": { + "imageid": 29, + "pos": [ + -82.52567801066766, + 460.63804687850563, + -26.134556779150863 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [] +} +{ + "action": { + "imageid": 30, + "pos": [ + -82.52567801066766, + 463.63804687850563, + -26.134556779150863 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + }, + "objects": [] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_16-2-58_1034949299/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_16-2-58_1034949299/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..55c72707c7e9e2ef20ec09761be99829dd9ed38c --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_16-2-58_1034949299/pose.jsonl @@ -0,0 +1,848 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -451.82197517971144, + 505.2627780299309, + -5.811363755897343 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 1, + "pos": [ + -454.82197517971144, + 505.2627780299309, + -5.811363755897343 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 2, + "pos": [ + -457.82197517971144, + 505.2627780299309, + -5.811363755897343 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 3, + "pos": [ + -460.82197517971144, + 505.2627780299309, + -5.811363755897343 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 4, + "pos": [ + -463.82197517971144, + 505.2627780299309, + -5.811363755897343 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 5, + "pos": [ + -466.82197517971144, + 505.2627780299309, + -5.811363755897343 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 6, + "pos": [ + -469.82197517971144, + 505.2627780299309, + -5.811363755897343 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 7, + "pos": [ + -472.82197517971144, + 505.2627780299309, + -5.811363755897343 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 8, + "pos": [ + -475.82197517971144, + 505.2627780299309, + -5.811363755897343 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 9, + "pos": [ + -478.82197517971144, + 505.2627780299309, + -5.811363755897343 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 10, + "pos": [ + -481.82197517971144, + 505.2627780299309, + -5.811363755897343 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -484.82197517971144, + 505.2627780299309, + -5.811363755897343 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -487.82197517971144, + 505.2627780299309, + -5.811363755897343 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -490.82197517971144, + 505.2627780299309, + -5.811363755897343 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -493.82197517971144, + 505.2627780299309, + -5.811363755897343 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -496.82197517971144, + 505.2627780299309, + -5.811363755897343 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -499.82197517971144, + 505.2627780299309, + -5.811363755897343 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -502.82197517971144, + 505.2627780299309, + -5.811363755897343 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -505.82197517971144, + 505.2627780299309, + -5.811363755897343 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -508.82197517971144, + 505.2627780299309, + -5.811363755897343 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -511.82197517971144, + 505.2627780299309, + -5.811363755897343 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -514.8219751797114, + 505.2627780299309, + -5.811363755897343 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -517.8219751797114, + 505.2627780299309, + -5.811363755897343 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -520.8219751797114, + 505.2627780299309, + -5.811363755897343 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -523.8219751797114, + 505.2627780299309, + -5.811363755897343 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -526.8219751797114, + 505.2627780299309, + -5.811363755897343 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -529.8219751797114, + 505.2627780299309, + -5.811363755897343 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -532.8219751797114, + 505.2627780299309, + -5.811363755897343 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -535.8219751797114, + 505.2627780299309, + -5.811363755897343 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -538.8219751797114, + 505.2627780299309, + -5.811363755897343 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -538.8219751797114, + 505.2627780299309, + -5.811363755897343 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -541.4200513910648, + 506.7627780299309, + -5.811363755897343 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_16-20-36_1967681095/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_16-20-36_1967681095/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8f244beca8f545efdd5235ea2170d01c01374acc --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_16-20-36_1967681095/pose.jsonl @@ -0,0 +1,1627 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -896.232003541733, + 472.4666697894793, + -8.939433706338015 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -893.232003541733, + 472.4666697894793, + -8.939433706338015 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -890.232003541733, + 472.4666697894793, + -8.939433706338015 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -887.232003541733, + 472.4666697894793, + -8.939433706338015 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -884.232003541733, + 472.4666697894793, + -8.939433706338015 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -881.232003541733, + 472.4666697894793, + -8.939433706338015 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -878.232003541733, + 472.4666697894793, + -8.939433706338015 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -875.232003541733, + 472.4666697894793, + -8.939433706338015 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -872.232003541733, + 472.4666697894793, + -8.939433706338015 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -869.232003541733, + 472.4666697894793, + -8.939433706338015 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -866.232003541733, + 472.4666697894793, + -8.939433706338015 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -866.232003541733, + 472.4666697894793, + -8.939433706338015 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -866.232003541733, + 472.4666697894793, + -8.939433706338015 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -864.732003541733, + 475.0647460008326, + -8.939433706338015 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -863.232003541733, + 477.6628222121859, + -8.939433706338015 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -861.732003541733, + 480.26089842353923, + -8.939433706338015 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -860.232003541733, + 482.85897463489255, + -8.939433706338015 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -858.732003541733, + 485.45705084624586, + -8.939433706338015 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -858.732003541733, + 485.45705084624586, + -8.939433706338015 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -856.1339273303797, + 486.95705084624586, + -8.939433706338015 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -853.5358511190263, + 488.45705084624586, + -8.939433706338015 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -850.937774907673, + 489.95705084624586, + -8.939433706338015 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -848.3396986963196, + 491.45705084624586, + -8.939433706338015 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -845.7416224849662, + 492.95705084624586, + -8.939433706338015 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -843.1435462736129, + 494.45705084624586, + -8.939433706338015 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -840.5454700622595, + 495.95705084624586, + -8.939433706338015 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -837.9473938509061, + 497.45705084624586, + -8.939433706338015 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -835.3493176395527, + 498.95705084624586, + -8.939433706338015 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -832.7512414281994, + 500.45705084624586, + -8.939433706338015 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -830.153165216846, + 501.95705084624586, + -8.939433706338015 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -827.5550890054926, + 503.45705084624586, + -8.939433706338015 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -824.9570127941392, + 504.95705084624586, + -8.939433706338015 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -822.3589365827859, + 506.45705084624586, + -8.939433706338015 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_16-20-56_1850952926/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_16-20-56_1850952926/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4532796a9c781fd2168c832accb07ccf6d157eaa --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_16-20-56_1850952926/pose.jsonl @@ -0,0 +1,1280 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -645.0101367012489, + 377.8522183211772, + -4.270157301385744 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [] +} +{ + "action": { + "imageid": 1, + "pos": [ + -646.5101367012489, + 375.2541421098239, + -4.270157301385744 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [] +} +{ + "action": { + "imageid": 2, + "pos": [ + -648.0101367012489, + 372.65606589847056, + -4.270157301385744 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -649.5101367012489, + 370.05798968711724, + -4.270157301385744 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -651.0101367012489, + 367.4599134757639, + -4.270157301385744 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -652.5101367012489, + 364.8618372644106, + -4.270157301385744 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -654.0101367012489, + 362.2637610530573, + -4.270157301385744 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -655.5101367012489, + 359.665684841704, + -4.270157301385744 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -657.0101367012489, + 357.06760863035066, + -4.270157301385744 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -658.5101367012489, + 354.46953241899735, + -4.270157301385744 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -660.0101367012489, + 351.87145620764403, + -4.270157301385744 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -661.5101367012489, + 349.2733799962907, + -4.270157301385744 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -663.0101367012489, + 346.6753037849374, + -4.270157301385744 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -664.5101367012489, + 344.0772275735841, + -4.270157301385744 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -666.0101367012489, + 341.47915136223077, + -4.270157301385744 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -667.5101367012489, + 338.88107515087745, + -4.270157301385744 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -669.0101367012489, + 336.28299893952413, + -4.270157301385744 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -670.5101367012489, + 333.6849227281708, + -4.270157301385744 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -672.0101367012489, + 331.0868465168175, + -4.270157301385744 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -673.5101367012489, + 328.4887703054642, + -4.270157301385744 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -675.0101367012489, + 325.89069409411087, + -4.270157301385744 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -676.5101367012489, + 323.29261788275755, + -4.270157301385744 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -678.0101367012489, + 320.69454167140424, + -4.270157301385744 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -679.5101367012489, + 318.0964654600509, + -4.270157301385744 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -681.0101367012489, + 315.4983892486976, + -4.270157301385744 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -682.5101367012489, + 312.9003130373443, + -4.270157301385744 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -684.0101367012489, + 310.302236825991, + -4.270157301385744 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -685.5101367012489, + 307.70416061463766, + -4.270157301385744 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -687.0101367012489, + 305.10608440328434, + -4.270157301385744 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -688.5101367012489, + 302.508008191931, + -4.270157301385744 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -690.0101367012489, + 299.9099319805777, + -4.270157301385744 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -691.5101367012489, + 297.3118557692244, + -4.270157301385744 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -691.5101367012489, + 297.3118557692244, + -4.270157301385744 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -691.5101367012489, + 294.3118557692244, + -4.270157301385744 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -691.5101367012489, + 291.3118557692244, + -4.270157301385744 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -691.5101367012489, + 288.3118557692244, + -4.270157301385744 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_16-25-47_995706887/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_16-25-47_995706887/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0c11e02a417ffe693a3526e3d96da1c0012d5440 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_16-25-47_995706887/pose.jsonl @@ -0,0 +1,1022 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -396.53238580621905, + 717.7469247042516, + -13.508558326538196 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -399.53238580621905, + 717.7469247042516, + -13.508558326538196 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -402.53238580621905, + 717.7469247042516, + -13.508558326538196 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -405.53238580621905, + 717.7469247042516, + -13.508558326538196 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -408.53238580621905, + 717.7469247042516, + -13.508558326538196 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -411.53238580621905, + 717.7469247042516, + -13.508558326538196 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -414.53238580621905, + 717.7469247042516, + -13.508558326538196 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -417.53238580621905, + 717.7469247042516, + -13.508558326538196 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -420.53238580621905, + 717.7469247042516, + -13.508558326538196 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -423.53238580621905, + 717.7469247042516, + -13.508558326538196 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -426.53238580621905, + 717.7469247042516, + -13.508558326538196 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -429.53238580621905, + 717.7469247042516, + -13.508558326538196 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -432.53238580621905, + 717.7469247042516, + -13.508558326538196 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -435.53238580621905, + 717.7469247042516, + -13.508558326538196 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -438.53238580621905, + 717.7469247042516, + -13.508558326538196 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -441.53238580621905, + 717.7469247042516, + -13.508558326538196 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -444.53238580621905, + 717.7469247042516, + -13.508558326538196 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -447.53238580621905, + 717.7469247042516, + -13.508558326538196 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -450.53238580621905, + 717.7469247042516, + -13.508558326538196 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -453.53238580621905, + 717.7469247042516, + -13.508558326538196 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -456.53238580621905, + 717.7469247042516, + -13.508558326538196 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -459.53238580621905, + 717.7469247042516, + -13.508558326538196 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -462.53238580621905, + 717.7469247042516, + -13.508558326538196 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -465.53238580621905, + 717.7469247042516, + -13.508558326538196 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -468.53238580621905, + 717.7469247042516, + -13.508558326538196 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -471.53238580621905, + 717.7469247042516, + -13.508558326538196 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -474.53238580621905, + 717.7469247042516, + -13.508558326538196 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -477.53238580621905, + 717.7469247042516, + -13.508558326538196 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -477.53238580621905, + 717.7469247042516, + -13.508558326538196 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -477.53238580621905, + 717.7469247042516, + -13.508558326538196 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -479.03238580621905, + 720.3450009156049, + -13.508558326538196 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -480.53238580621905, + 722.9430771269583, + -13.508558326538196 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -482.03238580621905, + 725.5411533383117, + -13.508558326538196 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -482.03238580621905, + 725.5411533383117, + -13.508558326538196 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -484.63046201757237, + 727.0411533383117, + -13.508558326538196 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -487.2285382289257, + 728.5411533383117, + -13.508558326538196 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_16-28-54_1057467587/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_16-28-54_1057467587/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d6a3df4e539b0d233856b0e18b079cdcc11a0780 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_16-28-54_1057467587/pose.jsonl @@ -0,0 +1,1751 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -455.8996175072998, + 548.4092672680745, + -11.429500465635734 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -454.3996175072998, + 551.0073434794278, + -11.429500465635734 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -452.8996175072998, + 553.6054196907812, + -11.429500465635734 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -451.3996175072998, + 556.2034959021346, + -11.429500465635734 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -449.8996175072998, + 558.801572113488, + -11.429500465635734 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -448.3996175072998, + 561.3996483248413, + -11.429500465635734 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -446.8996175072998, + 563.9977245361947, + -11.429500465635734 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -445.3996175072998, + 566.5958007475481, + -11.429500465635734 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -443.8996175072998, + 569.1938769589015, + -11.429500465635734 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -442.3996175072998, + 571.7919531702548, + -11.429500465635734 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -440.8996175072998, + 574.3900293816082, + -11.429500465635734 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -439.3996175072998, + 576.9881055929616, + -11.429500465635734 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -437.8996175072998, + 579.586181804315, + -11.429500465635734 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -436.3996175072998, + 582.1842580156683, + -11.429500465635734 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -434.8996175072998, + 584.7823342270217, + -11.429500465635734 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -433.3996175072998, + 587.3804104383751, + -11.429500465635734 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -431.8996175072998, + 589.9784866497284, + -11.429500465635734 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -430.3996175072998, + 592.5765628610818, + -11.429500465635734 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -428.8996175072998, + 595.1746390724352, + -11.429500465635734 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -427.3996175072998, + 597.7727152837886, + -11.429500465635734 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -425.8996175072998, + 600.3707914951419, + -11.429500465635734 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -424.3996175072998, + 602.9688677064953, + -11.429500465635734 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -422.8996175072998, + 605.5669439178487, + -11.429500465635734 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -421.3996175072998, + 608.165020129202, + -11.429500465635734 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -421.3996175072998, + 608.165020129202, + -11.429500465635734 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -418.8015412959465, + 609.665020129202, + -11.429500465635734 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -416.2034650845932, + 611.165020129202, + -11.429500465635734 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -413.60538887323986, + 612.665020129202, + -11.429500465635734 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -411.00731266188654, + 614.165020129202, + -11.429500465635734 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -408.40923645053323, + 615.665020129202, + -11.429500465635734 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_16-34-4_1065311705/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_16-34-4_1065311705/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ff0affdc2aa9c0fe9bc0fdb1f2d0835e3e20d405 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_16-34-4_1065311705/pose.jsonl @@ -0,0 +1,798 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 84.09591547594565, + 380.67463127811686, + -18.214535086579176 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + 81.09591547594565, + 380.67463127811686, + -18.214535086579176 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + 78.09591547594565, + 380.67463127811686, + -18.214535086579176 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + 75.09591547594565, + 380.67463127811686, + -18.214535086579176 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + 72.09591547594565, + 380.67463127811686, + -18.214535086579176 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + 69.09591547594565, + 380.67463127811686, + -18.214535086579176 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + 66.09591547594565, + 380.67463127811686, + -18.214535086579176 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + 63.095915475945645, + 380.67463127811686, + -18.214535086579176 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + 60.095915475945645, + 380.67463127811686, + -18.214535086579176 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + 57.095915475945645, + 380.67463127811686, + -18.214535086579176 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + 54.095915475945645, + 380.67463127811686, + -18.214535086579176 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + 51.095915475945645, + 380.67463127811686, + -18.214535086579176 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + 48.095915475945645, + 380.67463127811686, + -18.214535086579176 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + 45.095915475945645, + 380.67463127811686, + -18.214535086579176 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + 42.095915475945645, + 380.67463127811686, + -18.214535086579176 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + 39.095915475945645, + 380.67463127811686, + -18.214535086579176 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + 36.095915475945645, + 380.67463127811686, + -18.214535086579176 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + 33.095915475945645, + 380.67463127811686, + -18.214535086579176 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 18, + "pos": [ + 30.095915475945645, + 380.67463127811686, + -18.214535086579176 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 19, + "pos": [ + 27.095915475945645, + 380.67463127811686, + -18.214535086579176 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 20, + "pos": [ + 24.095915475945645, + 380.67463127811686, + -18.214535086579176 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 21, + "pos": [ + 21.095915475945645, + 380.67463127811686, + -18.214535086579176 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 22, + "pos": [ + 18.095915475945645, + 380.67463127811686, + -18.214535086579176 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 23, + "pos": [ + 15.095915475945645, + 380.67463127811686, + -18.214535086579176 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 24, + "pos": [ + 12.095915475945645, + 380.67463127811686, + -18.214535086579176 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 25, + "pos": [ + 9.095915475945645, + 380.67463127811686, + -18.214535086579176 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 26, + "pos": [ + 6.095915475945645, + 380.67463127811686, + -18.214535086579176 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 27, + "pos": [ + 3.0959154759456453, + 380.67463127811686, + -18.214535086579176 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 28, + "pos": [ + 0.09591547594564531, + 380.67463127811686, + -18.214535086579176 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 29, + "pos": [ + -2.9040845240543547, + 380.67463127811686, + -18.214535086579176 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 30, + "pos": [ + -5.904084524054355, + 380.67463127811686, + -18.214535086579176 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 31, + "pos": [ + -8.904084524054355, + 380.67463127811686, + -18.214535086579176 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 32, + "pos": [ + -11.904084524054355, + 380.67463127811686, + -18.214535086579176 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 33, + "pos": [ + -14.904084524054355, + 380.67463127811686, + -18.214535086579176 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 34, + "pos": [ + -17.904084524054355, + 380.67463127811686, + -18.214535086579176 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 35, + "pos": [ + -20.904084524054355, + 380.67463127811686, + -18.214535086579176 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 36, + "pos": [ + -20.904084524054355, + 380.67463127811686, + -18.214535086579176 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 37, + "pos": [ + -23.50216073540767, + 382.17463127811686, + -18.214535086579176 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 38, + "pos": [ + -26.100236946760987, + 383.67463127811686, + -18.214535086579176 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + }, + "objects": [] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_16-37-46_619054081/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_16-37-46_619054081/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c9e361c0c8e488dfd5a81f91d41d44e6abb712f5 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_16-37-46_619054081/pose.jsonl @@ -0,0 +1,1986 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -429.79430432504705, + 634.6783152250606, + -14.725151966135918 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -426.79430432504705, + 634.6783152250606, + -14.725151966135918 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -423.79430432504705, + 634.6783152250606, + -14.725151966135918 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -420.79430432504705, + 634.6783152250606, + -14.725151966135918 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -417.79430432504705, + 634.6783152250606, + -14.725151966135918 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -417.79430432504705, + 634.6783152250606, + -14.725151966135918 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -415.19622811369373, + 636.1783152250606, + -14.725151966135918 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -412.5981519023404, + 637.6783152250606, + -14.725151966135918 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -410.0000756909871, + 639.1783152250606, + -14.725151966135918 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -407.4019994796338, + 640.6783152250606, + -14.725151966135918 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -404.80392326828047, + 642.1783152250606, + -14.725151966135918 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -402.20584705692715, + 643.6783152250606, + -14.725151966135918 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -399.60777084557384, + 645.1783152250606, + -14.725151966135918 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -397.0096946342205, + 646.6783152250606, + -14.725151966135918 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -394.4116184228672, + 648.1783152250606, + -14.725151966135918 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -391.8135422115139, + 649.6783152250606, + -14.725151966135918 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -389.2154660001606, + 651.1783152250606, + -14.725151966135918 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -386.61738978880726, + 652.6783152250606, + -14.725151966135918 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -384.01931357745394, + 654.1783152250606, + -14.725151966135918 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -381.4212373661006, + 655.6783152250606, + -14.725151966135918 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -378.8231611547473, + 657.1783152250606, + -14.725151966135918 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -376.225084943394, + 658.6783152250606, + -14.725151966135918 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -373.6270087320407, + 660.1783152250606, + -14.725151966135918 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -371.02893252068736, + 661.6783152250606, + -14.725151966135918 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -368.43085630933405, + 663.1783152250606, + -14.725151966135918 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -365.83278009798073, + 664.6783152250606, + -14.725151966135918 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -363.2347038866274, + 666.1783152250606, + -14.725151966135918 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -360.6366276752741, + 667.6783152250606, + -14.725151966135918 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -358.0385514639208, + 669.1783152250606, + -14.725151966135918 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -355.44047525256747, + 670.6783152250606, + -14.725151966135918 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -352.84239904121415, + 672.1783152250606, + -14.725151966135918 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -350.24432282986083, + 673.6783152250606, + -14.725151966135918 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -347.6462466185075, + 675.1783152250606, + -14.725151966135918 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -345.0481704071542, + 676.6783152250606, + -14.725151966135918 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -342.4500941958009, + 678.1783152250606, + -14.725151966135918 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -339.85201798444757, + 679.6783152250606, + -14.725151966135918 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -337.25394177309425, + 681.1783152250606, + -14.725151966135918 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [] +} +{ + "action": { + "imageid": 37, + "pos": [ + -334.65586556174094, + 682.6783152250606, + -14.725151966135918 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + }, + "objects": [] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_16-49-56_105575579/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_16-49-56_105575579/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..970e80ec1605e00476e7dfc7423a02fdb6821768 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_16-49-56_105575579/pose.jsonl @@ -0,0 +1,1036 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 6.576072133462624, + -107.07445718289473, + -6.494154972985463 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [] +} +{ + "action": { + "imageid": 1, + "pos": [ + 8.076072133462624, + -104.47638097154142, + -6.494154972985463 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [] +} +{ + "action": { + "imageid": 2, + "pos": [ + 9.576072133462624, + -101.8783047601881, + -6.494154972985463 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [] +} +{ + "action": { + "imageid": 3, + "pos": [ + 11.076072133462624, + -99.28022854883478, + -6.494154972985463 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [] +} +{ + "action": { + "imageid": 4, + "pos": [ + 12.576072133462624, + -96.68215233748147, + -6.494154972985463 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [] +} +{ + "action": { + "imageid": 5, + "pos": [ + 14.076072133462624, + -94.08407612612815, + -6.494154972985463 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + 15.576072133462624, + -91.48599991477484, + -6.494154972985463 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + 17.076072133462624, + -88.88792370342152, + -6.494154972985463 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + 18.576072133462624, + -86.2898474920682, + -6.494154972985463 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + 20.076072133462624, + -83.69177128071489, + -6.494154972985463 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + 21.576072133462624, + -81.09369506936157, + -6.494154972985463 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + 23.076072133462624, + -78.49561885800826, + -6.494154972985463 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + 24.576072133462624, + -75.89754264665494, + -6.494154972985463 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + 26.076072133462624, + -73.29946643530162, + -6.494154972985463 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + 27.576072133462624, + -70.70139022394831, + -6.494154972985463 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + 29.076072133462624, + -68.10331401259499, + -6.494154972985463 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + 30.576072133462624, + -65.50523780124168, + -6.494154972985463 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + 32.076072133462624, + -62.90716158988836, + -6.494154972985463 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + 33.576072133462624, + -60.309085378535045, + -6.494154972985463 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + 35.076072133462624, + -57.71100916718173, + -6.494154972985463 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + 36.576072133462624, + -55.11293295582841, + -6.494154972985463 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + 38.076072133462624, + -52.5148567444751, + -6.494154972985463 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + 39.576072133462624, + -49.91678053312178, + -6.494154972985463 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + 41.076072133462624, + -47.318704321768465, + -6.494154972985463 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + 42.576072133462624, + -44.72062811041515, + -6.494154972985463 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + 44.076072133462624, + -42.12255189906183, + -6.494154972985463 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + 45.576072133462624, + -39.52447568770852, + -6.494154972985463 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + 47.076072133462624, + -36.9263994763552, + -6.494154972985463 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + 48.576072133462624, + -34.328323265001885, + -6.494154972985463 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + 50.076072133462624, + -31.73024705364857, + -6.494154972985463 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + 51.576072133462624, + -29.132170842295253, + -6.494154972985463 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + 53.076072133462624, + -26.534094630941937, + -6.494154972985463 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + 54.576072133462624, + -23.93601841958862, + -6.494154972985463 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + 56.076072133462624, + -21.337942208235305, + -6.494154972985463 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + 57.576072133462624, + -18.73986599688199, + -6.494154972985463 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + 59.076072133462624, + -16.141789785528672, + -6.494154972985463 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + 60.576072133462624, + -13.543713574175356, + -6.494154972985463 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + 62.076072133462624, + -10.94563736282204, + -6.494154972985463 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + 63.576072133462624, + -8.347561151468724, + -6.494154972985463 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [] +} +{ + "action": { + "imageid": 39, + "pos": [ + 65.07607213346263, + -5.7494849401154084, + -6.494154972985463 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965956 + }, + "objects": [] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_16-5-55_1369321801/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_16-5-55_1369321801/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..71176252a5e1c8aba9b1f79610a8b35c7011a4e5 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_16-5-55_1369321801/pose.jsonl @@ -0,0 +1,1285 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -520.7325951613255, + 766.3035633794669, + -2.605873385005758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -522.2325951613255, + 763.7054871681137, + -2.605873385005758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -523.7325951613255, + 761.1074109567603, + -2.605873385005758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -525.2325951613255, + 758.5093347454069, + -2.605873385005758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -526.7325951613255, + 755.9112585340536, + -2.605873385005758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -528.2325951613255, + 753.3131823227002, + -2.605873385005758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -529.7325951613255, + 750.7151061113468, + -2.605873385005758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -531.2325951613255, + 748.1170298999934, + -2.605873385005758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -532.7325951613255, + 745.5189536886401, + -2.605873385005758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -534.2325951613255, + 742.9208774772867, + -2.605873385005758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -535.7325951613255, + 740.3228012659333, + -2.605873385005758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -537.2325951613255, + 737.72472505458, + -2.605873385005758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -538.7325951613255, + 735.1266488432266, + -2.605873385005758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -540.2325951613255, + 732.5285726318732, + -2.605873385005758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -541.7325951613255, + 729.9304964205198, + -2.605873385005758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -543.2325951613255, + 727.3324202091665, + -2.605873385005758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -544.7325951613255, + 724.7343439978131, + -2.605873385005758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -546.2325951613255, + 722.1362677864597, + -2.605873385005758 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -546.2325951613255, + 722.1362677864597, + -2.605873385005758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -548.8306713726788, + 720.6362677864597, + -2.605873385005758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -551.4287475840322, + 719.1362677864597, + -2.605873385005758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -554.0268237953856, + 717.6362677864597, + -2.605873385005758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -556.6249000067389, + 716.1362677864597, + -2.605873385005758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -559.2229762180923, + 714.6362677864597, + -2.605873385005758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -561.8210524294457, + 713.1362677864597, + -2.605873385005758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -564.419128640799, + 711.6362677864597, + -2.605873385005758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -567.0172048521524, + 710.1362677864597, + -2.605873385005758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -569.6152810635058, + 708.6362677864597, + -2.605873385005758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -572.2133572748592, + 707.1362677864597, + -2.605873385005758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -574.8114334862125, + 705.6362677864597, + -2.605873385005758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -577.4095096975659, + 704.1362677864597, + -2.605873385005758 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_16-53-7_822262754/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_16-53-7_822262754/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..51f856d88be5cafde0dc5902c5a3024b841bb74c --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_16-53-7_822262754/pose.jsonl @@ -0,0 +1,957 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -40.961479106688, + 169.05864462142313, + -16.45529279960786 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -37.961479106688, + 169.05864462142313, + -16.45529279960786 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -34.961479106688, + 169.05864462142313, + -16.45529279960786 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -31.961479106688003, + 169.05864462142313, + -16.45529279960786 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -28.961479106688003, + 169.05864462142313, + -16.45529279960786 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -25.961479106688003, + 169.05864462142313, + -16.45529279960786 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -22.961479106688003, + 169.05864462142313, + -16.45529279960786 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -19.961479106688003, + 169.05864462142313, + -16.45529279960786 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -16.961479106688003, + 169.05864462142313, + -16.45529279960786 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -13.961479106688003, + 169.05864462142313, + -16.45529279960786 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -10.961479106688003, + 169.05864462142313, + -16.45529279960786 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -7.961479106688003, + 169.05864462142313, + -16.45529279960786 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -4.961479106688003, + 169.05864462142313, + -16.45529279960786 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -1.961479106688003, + 169.05864462142313, + -16.45529279960786 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -1.961479106688003, + 169.05864462142313, + -16.45529279960786 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + 0.6365971046653129, + 170.55864462142313, + -16.45529279960786 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + 3.234673316018629, + 172.05864462142313, + -16.45529279960786 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + 5.832749527371945, + 173.55864462142313, + -16.45529279960786 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + 8.430825738725261, + 175.05864462142313, + -16.45529279960786 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + 11.028901950078577, + 176.55864462142313, + -16.45529279960786 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + 13.626978161431893, + 178.05864462142313, + -16.45529279960786 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + 16.22505437278521, + 179.55864462142313, + -16.45529279960786 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + 18.823130584138525, + 181.05864462142313, + -16.45529279960786 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + 21.42120679549184, + 182.55864462142313, + -16.45529279960786 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + 24.019283006845157, + 184.05864462142313, + -16.45529279960786 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + 26.617359218198473, + 185.55864462142313, + -16.45529279960786 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + 29.21543542955179, + 187.05864462142313, + -16.45529279960786 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + 31.813511640905105, + 188.55864462142313, + -16.45529279960786 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + 34.41158785225842, + 190.05864462142313, + -16.45529279960786 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + 37.00966406361174, + 191.55864462142313, + -16.45529279960786 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + }, + "objects": [] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_16-54-46_110613202/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_16-54-46_110613202/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1722e78efa97282e80445a1cb3a94d6a93b3ec8f --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_16-54-46_110613202/pose.jsonl @@ -0,0 +1,1574 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -709.3637193039231, + 569.9517770601983, + -27.018367549050687 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -709.3637193039231, + 566.9517770601983, + -27.018367549050687 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -709.3637193039231, + 563.9517770601983, + -27.018367549050687 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -709.3637193039231, + 560.9517770601983, + -27.018367549050687 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -709.3637193039231, + 557.9517770601983, + -27.018367549050687 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -709.3637193039231, + 554.9517770601983, + -27.018367549050687 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -709.3637193039231, + 551.9517770601983, + -27.018367549050687 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -709.3637193039231, + 548.9517770601983, + -27.018367549050687 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -709.3637193039231, + 545.9517770601983, + -27.018367549050687 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -709.3637193039231, + 542.9517770601983, + -27.018367549050687 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -709.3637193039231, + 539.9517770601983, + -27.018367549050687 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -709.3637193039231, + 536.9517770601983, + -27.018367549050687 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -709.3637193039231, + 533.9517770601983, + -27.018367549050687 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -709.3637193039231, + 530.9517770601983, + -27.018367549050687 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -709.3637193039231, + 527.9517770601983, + -27.018367549050687 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -709.3637193039231, + 524.9517770601983, + -27.018367549050687 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -709.3637193039231, + 521.9517770601983, + -27.018367549050687 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -709.3637193039231, + 518.9517770601983, + -27.018367549050687 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -709.3637193039231, + 515.9517770601983, + -27.018367549050687 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -709.3637193039231, + 512.9517770601983, + -27.018367549050687 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -709.3637193039231, + 509.9517770601983, + -27.018367549050687 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -709.3637193039231, + 506.9517770601983, + -27.018367549050687 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -709.3637193039231, + 503.9517770601983, + -27.018367549050687 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -709.3637193039231, + 500.9517770601983, + -27.018367549050687 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -709.3637193039231, + 497.9517770601983, + -27.018367549050687 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -709.3637193039231, + 494.9517770601983, + -27.018367549050687 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -709.3637193039231, + 491.9517770601983, + -27.018367549050687 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -709.3637193039231, + 488.9517770601983, + -27.018367549050687 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -709.3637193039231, + 485.9517770601983, + -27.018367549050687 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -709.3637193039231, + 482.9517770601983, + -27.018367549050687 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -709.3637193039231, + 479.9517770601983, + -27.018367549050687 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -709.3637193039231, + 476.9517770601983, + -27.018367549050687 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -709.3637193039231, + 473.9517770601983, + -27.018367549050687 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -709.3637193039231, + 470.9517770601983, + -27.018367549050687 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -709.3637193039231, + 467.9517770601983, + -27.018367549050687 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -709.3637193039231, + 464.9517770601983, + -27.018367549050687 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -709.3637193039231, + 464.9517770601983, + -27.018367549050687 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -707.8637193039231, + 462.353700848845, + -27.018367549050687 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -706.3637193039231, + 459.7556246374917, + -27.018367549050687 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [] +} +{ + "action": { + "imageid": 39, + "pos": [ + -704.8637193039231, + 457.15754842613836, + -27.018367549050687 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + }, + "objects": [] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_16-56-29_950390868/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_16-56-29_950390868/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..385d2c711aa9d18352a2af346fba0c2fdebfca3d --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_16-56-29_950390868/pose.jsonl @@ -0,0 +1,1104 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -119.43288563795235, + 682.4905233443197, + -9.570035258148742 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + }, + "objects": [] +} +{ + "action": { + "imageid": 1, + "pos": [ + -117.93288563795235, + 679.8924471329665, + -9.570035258148742 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + }, + "objects": [] +} +{ + "action": { + "imageid": 2, + "pos": [ + -116.43288563795235, + 677.2943709216131, + -9.570035258148742 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [] +} +{ + "action": { + "imageid": 3, + "pos": [ + -114.93288563795235, + 674.6962947102597, + -9.570035258148742 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [] +} +{ + "action": { + "imageid": 4, + "pos": [ + -113.43288563795235, + 672.0982184989064, + -9.570035258148742 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [] +} +{ + "action": { + "imageid": 5, + "pos": [ + -111.93288563795235, + 669.500142287553, + -9.570035258148742 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [] +} +{ + "action": { + "imageid": 6, + "pos": [ + -110.43288563795235, + 666.9020660761996, + -9.570035258148742 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [] +} +{ + "action": { + "imageid": 7, + "pos": [ + -108.93288563795235, + 664.3039898648462, + -9.570035258148742 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [] +} +{ + "action": { + "imageid": 8, + "pos": [ + -107.43288563795235, + 661.7059136534929, + -9.570035258148742 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -105.93288563795235, + 659.1078374421395, + -9.570035258148742 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -104.43288563795235, + 656.5097612307861, + -9.570035258148742 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -102.93288563795235, + 653.9116850194328, + -9.570035258148742 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -101.43288563795235, + 651.3136088080794, + -9.570035258148742 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -99.93288563795235, + 648.715532596726, + -9.570035258148742 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -98.43288563795235, + 646.1174563853726, + -9.570035258148742 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -96.93288563795235, + 643.5193801740193, + -9.570035258148742 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -95.43288563795235, + 640.9213039626659, + -9.570035258148742 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -93.93288563795235, + 638.3232277513125, + -9.570035258148742 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -92.43288563795235, + 635.7251515399591, + -9.570035258148742 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -90.93288563795235, + 633.1270753286058, + -9.570035258148742 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -89.43288563795235, + 630.5289991172524, + -9.570035258148742 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -87.93288563795235, + 627.930922905899, + -9.570035258148742 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -86.43288563795235, + 625.3328466945457, + -9.570035258148742 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -86.43288563795235, + 625.3328466945457, + -9.570035258148742 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -86.43288563795235, + 622.3328466945457, + -9.570035258148742 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -86.43288563795235, + 619.3328466945457, + -9.570035258148742 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -86.43288563795235, + 616.3328466945457, + -9.570035258148742 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -86.43288563795235, + 613.3328466945457, + -9.570035258148742 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -86.43288563795235, + 610.3328466945457, + -9.570035258148742 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -86.43288563795235, + 607.3328466945457, + -9.570035258148742 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -86.43288563795235, + 604.3328466945457, + -9.570035258148742 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -86.43288563795235, + 601.3328466945457, + -9.570035258148742 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -86.43288563795235, + 598.3328466945457, + -9.570035258148742 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -86.43288563795235, + 595.3328466945457, + -9.570035258148742 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -86.43288563795235, + 592.3328466945457, + -9.570035258148742 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -86.43288563795235, + 589.3328466945457, + -9.570035258148742 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -86.43288563795235, + 586.3328466945457, + -9.570035258148742 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -86.43288563795235, + 583.3328466945457, + -9.570035258148742 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -86.43288563795235, + 580.3328466945457, + -9.570035258148742 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 39, + "pos": [ + -86.43288563795235, + 577.3328466945457, + -9.570035258148742 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 40, + "pos": [ + -86.43288563795235, + 574.3328466945457, + -9.570035258148742 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 41, + "pos": [ + -86.43288563795235, + 571.3328466945457, + -9.570035258148742 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_16-6-34_396473730/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_16-6-34_396473730/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ac87c0fc8ef4b6440fecfeec98d6a30a40b62b48 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_16-6-34_396473730/pose.jsonl @@ -0,0 +1,1826 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -605.8227304174407, + 559.6946954239575, + -10.474203868183402 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -603.2246542060873, + 561.1946954239575, + -10.474203868183402 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -600.6265779947339, + 562.6946954239575, + -10.474203868183402 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -598.0285017833805, + 564.1946954239575, + -10.474203868183402 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -595.4304255720272, + 565.6946954239575, + -10.474203868183402 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -592.8323493606738, + 567.1946954239575, + -10.474203868183402 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -590.2342731493204, + 568.6946954239575, + -10.474203868183402 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -587.636196937967, + 570.1946954239575, + -10.474203868183402 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -585.0381207266137, + 571.6946954239575, + -10.474203868183402 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -582.4400445152603, + 573.1946954239575, + -10.474203868183402 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -579.8419683039069, + 574.6946954239575, + -10.474203868183402 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -577.2438920925536, + 576.1946954239575, + -10.474203868183402 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -574.6458158812002, + 577.6946954239575, + -10.474203868183402 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -572.0477396698468, + 579.1946954239575, + -10.474203868183402 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -569.4496634584934, + 580.6946954239575, + -10.474203868183402 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -566.8515872471401, + 582.1946954239575, + -10.474203868183402 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -564.2535110357867, + 583.6946954239575, + -10.474203868183402 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -561.6554348244333, + 585.1946954239575, + -10.474203868183402 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -559.0573586130799, + 586.6946954239575, + -10.474203868183402 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -556.4592824017266, + 588.1946954239575, + -10.474203868183402 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -553.8612061903732, + 589.6946954239575, + -10.474203868183402 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -551.2631299790198, + 591.1946954239575, + -10.474203868183402 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -548.6650537676664, + 592.6946954239575, + -10.474203868183402 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -546.0669775563131, + 594.1946954239575, + -10.474203868183402 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -546.0669775563131, + 594.1946954239575, + -10.474203868183402 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -544.5669775563131, + 596.7927716353108, + -10.474203868183402 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -543.0669775563131, + 599.3908478466642, + -10.474203868183402 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -541.5669775563131, + 601.9889240580176, + -10.474203868183402 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -540.0669775563131, + 604.587000269371, + -10.474203868183402 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -538.5669775563131, + 607.1850764807243, + -10.474203868183402 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -537.0669775563131, + 609.7831526920777, + -10.474203868183402 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -535.5669775563131, + 612.3812289034311, + -10.474203868183402 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -534.0669775563131, + 614.9793051147844, + -10.474203868183402 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -532.5669775563131, + 617.5773813261378, + -10.474203868183402 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -531.0669775563131, + 620.1754575374912, + -10.474203868183402 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_16-8-10_1590079444/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_16-8-10_1590079444/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0ea666f19782cd249821c715833fb48c8ccf6df4 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_16-8-10_1590079444/pose.jsonl @@ -0,0 +1,1806 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -265.6794275508472, + 485.5797693404036, + -6.3008655344660625 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -267.1794275508472, + 488.1778455517569, + -6.3008655344660625 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -268.6794275508472, + 490.7759217631102, + -6.3008655344660625 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -270.1794275508472, + 493.3739979744635, + -6.3008655344660625 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -271.6794275508472, + 495.97207418581684, + -6.3008655344660625 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -273.1794275508472, + 498.57015039717015, + -6.3008655344660625 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -274.6794275508472, + 501.16822660852347, + -6.3008655344660625 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -276.1794275508472, + 503.7663028198768, + -6.3008655344660625 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -277.6794275508472, + 506.3643790312301, + -6.3008655344660625 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -279.1794275508472, + 508.9624552425834, + -6.3008655344660625 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -280.6794275508472, + 511.56053145393673, + -6.3008655344660625 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -282.1794275508472, + 514.15860766529, + -6.3008655344660625 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -283.6794275508472, + 516.7566838766434, + -6.3008655344660625 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -285.1794275508472, + 519.3547600879967, + -6.3008655344660625 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -286.6794275508472, + 521.9528362993501, + -6.3008655344660625 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -288.1794275508472, + 524.5509125107035, + -6.3008655344660625 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -289.6794275508472, + 527.1489887220569, + -6.3008655344660625 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -291.1794275508472, + 529.7470649334102, + -6.3008655344660625 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -292.6794275508472, + 532.3451411447636, + -6.3008655344660625 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -294.1794275508472, + 534.943217356117, + -6.3008655344660625 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -295.6794275508472, + 537.5412935674703, + -6.3008655344660625 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -297.1794275508472, + 540.1393697788237, + -6.3008655344660625 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -298.6794275508472, + 542.7374459901771, + -6.3008655344660625 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -300.1794275508472, + 545.3355222015305, + -6.3008655344660625 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -301.6794275508472, + 547.9335984128838, + -6.3008655344660625 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -303.1794275508472, + 550.5316746242372, + -6.3008655344660625 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -304.6794275508472, + 553.1297508355906, + -6.3008655344660625 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -306.1794275508472, + 555.727827046944, + -6.3008655344660625 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -307.6794275508472, + 558.3259032582973, + -6.3008655344660625 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -309.1794275508472, + 560.9239794696507, + -6.3008655344660625 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -310.6794275508472, + 563.5220556810041, + -6.3008655344660625 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -310.6794275508472, + 563.5220556810041, + -6.3008655344660625 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -310.6794275508472, + 566.5220556810041, + -6.3008655344660625 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -310.6794275508472, + 569.5220556810041, + -6.3008655344660625 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -310.6794275508472, + 572.5220556810041, + -6.3008655344660625 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -310.6794275508472, + 575.5220556810041, + -6.3008655344660625 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -310.6794275508472, + 578.5220556810041, + -6.3008655344660625 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -310.6794275508472, + 581.5220556810041, + -6.3008655344660625 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_17-10-46_846930886/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_17-10-46_846930886/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2b819b0fc3e52c367f6b3f444a647681bd02d9a7 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_17-10-46_846930886/pose.jsonl @@ -0,0 +1,1050 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -599.7423702123745, + 16.266201032663332, + -29.726463659422567 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [] +} +{ + "action": { + "imageid": 1, + "pos": [ + -597.1442940010211, + 17.766201032663332, + -29.726463659422567 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [] +} +{ + "action": { + "imageid": 2, + "pos": [ + -594.5462177896677, + 19.266201032663332, + -29.726463659422567 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -591.9481415783143, + 20.766201032663332, + -29.726463659422567 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -589.350065366961, + 22.266201032663332, + -29.726463659422567 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -586.7519891556076, + 23.766201032663332, + -29.726463659422567 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -584.1539129442542, + 25.266201032663332, + -29.726463659422567 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -581.5558367329008, + 26.766201032663332, + -29.726463659422567 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -578.9577605215475, + 28.266201032663332, + -29.726463659422567 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -576.3596843101941, + 29.766201032663332, + -29.726463659422567 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -573.7616080988407, + 31.266201032663332, + -29.726463659422567 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -571.1635318874874, + 32.76620103266333, + -29.726463659422567 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -568.565455676134, + 34.26620103266333, + -29.726463659422567 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -565.9673794647806, + 35.76620103266333, + -29.726463659422567 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -563.3693032534272, + 37.26620103266333, + -29.726463659422567 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -560.7712270420739, + 38.76620103266333, + -29.726463659422567 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -558.1731508307205, + 40.26620103266333, + -29.726463659422567 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -555.5750746193671, + 41.76620103266333, + -29.726463659422567 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -552.9769984080137, + 43.26620103266333, + -29.726463659422567 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -550.3789221966604, + 44.76620103266333, + -29.726463659422567 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -547.780845985307, + 46.26620103266333, + -29.726463659422567 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -545.1827697739536, + 47.76620103266333, + -29.726463659422567 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -542.5846935626003, + 49.26620103266333, + -29.726463659422567 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -542.5846935626003, + 49.26620103266333, + -29.726463659422567 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -541.0846935626003, + 51.86427724401665, + -29.726463659422567 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -539.5846935626003, + 54.462353455369964, + -29.726463659422567 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -538.0846935626003, + 57.06042966672328, + -29.726463659422567 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -536.5846935626003, + 59.658505878076596, + -29.726463659422567 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -535.0846935626003, + 62.25658208942991, + -29.726463659422567 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -533.5846935626003, + 64.85465830078323, + -29.726463659422567 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -532.0846935626003, + 67.45273451213654, + -29.726463659422567 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -530.5846935626003, + 70.05081072348986, + -29.726463659422567 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -529.0846935626003, + 72.64888693484318, + -29.726463659422567 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -527.5846935626003, + 75.24696314619649, + -29.726463659422567 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -526.0846935626003, + 77.84503935754981, + -29.726463659422567 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -524.5846935626003, + 80.44311556890312, + -29.726463659422567 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -523.0846935626003, + 83.04119178025644, + -29.726463659422567 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -521.5846935626003, + 85.63926799160976, + -29.726463659422567 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_17-11-46_1957747793/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_17-11-46_1957747793/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5cdd9deb2dfd0edaabf2824f7995e9c54f644bca --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_17-11-46_1957747793/pose.jsonl @@ -0,0 +1,1677 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -462.7596256695448, + 460.0256063846113, + -10.474865249647934 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -465.3577018808981, + 461.5256063846113, + -10.474865249647934 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -467.9557780922514, + 463.0256063846113, + -10.474865249647934 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -470.55385430360474, + 464.5256063846113, + -10.474865249647934 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -473.15193051495805, + 466.0256063846113, + -10.474865249647934 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -475.75000672631137, + 467.5256063846113, + -10.474865249647934 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -478.3480829376647, + 469.0256063846113, + -10.474865249647934 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -480.946159149018, + 470.5256063846113, + -10.474865249647934 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -483.5442353603713, + 472.0256063846113, + -10.474865249647934 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -486.14231157172463, + 473.5256063846113, + -10.474865249647934 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -488.74038778307795, + 475.0256063846113, + -10.474865249647934 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -491.33846399443127, + 476.5256063846113, + -10.474865249647934 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -493.9365402057846, + 478.0256063846113, + -10.474865249647934 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -496.5346164171379, + 479.5256063846113, + -10.474865249647934 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -499.1326926284912, + 481.0256063846113, + -10.474865249647934 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -501.73076883984453, + 482.5256063846113, + -10.474865249647934 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -504.32884505119785, + 484.0256063846113, + -10.474865249647934 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -506.92692126255116, + 485.5256063846113, + -10.474865249647934 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -509.5249974739045, + 487.0256063846113, + -10.474865249647934 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -512.1230736852579, + 488.5256063846113, + -10.474865249647934 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -514.7211498966112, + 490.0256063846113, + -10.474865249647934 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -517.3192261079646, + 491.5256063846113, + -10.474865249647934 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -519.917302319318, + 493.0256063846113, + -10.474865249647934 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -522.5153785306713, + 494.5256063846113, + -10.474865249647934 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -525.1134547420247, + 496.0256063846113, + -10.474865249647934 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -527.7115309533781, + 497.5256063846113, + -10.474865249647934 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -530.3096071647315, + 499.0256063846113, + -10.474865249647934 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -532.9076833760848, + 500.5256063846113, + -10.474865249647934 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -535.5057595874382, + 502.0256063846113, + -10.474865249647934 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -538.1038357987916, + 503.5256063846113, + -10.474865249647934 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -540.701912010145, + 505.0256063846113, + -10.474865249647934 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -543.2999882214983, + 506.5256063846113, + -10.474865249647934 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_17-13-47_1025202362/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_17-13-47_1025202362/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6c54289c0ee898920224186fa41bf74d3c812ef1 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_17-13-47_1025202362/pose.jsonl @@ -0,0 +1,1106 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -688.9944451993077, + 678.6882303129909, + -20.326720293685227 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -690.4944451993077, + 681.2863065243441, + -20.326720293685227 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -691.9944451993077, + 683.8843827356975, + -20.326720293685227 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -693.4944451993077, + 686.4824589470509, + -20.326720293685227 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -694.9944451993077, + 689.0805351584042, + -20.326720293685227 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -696.4944451993077, + 691.6786113697576, + -20.326720293685227 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -697.9944451993077, + 694.276687581111, + -20.326720293685227 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -699.4944451993077, + 696.8747637924644, + -20.326720293685227 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -700.9944451993077, + 699.4728400038177, + -20.326720293685227 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -702.4944451993077, + 702.0709162151711, + -20.326720293685227 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -703.9944451993077, + 704.6689924265245, + -20.326720293685227 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -705.4944451993077, + 707.2670686378779, + -20.326720293685227 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -706.9944451993077, + 709.8651448492312, + -20.326720293685227 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -708.4944451993077, + 712.4632210605846, + -20.326720293685227 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -709.9944451993077, + 715.061297271938, + -20.326720293685227 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -711.4944451993077, + 717.6593734832913, + -20.326720293685227 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -712.9944451993077, + 720.2574496946447, + -20.326720293685227 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -714.4944451993077, + 722.8555259059981, + -20.326720293685227 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -715.9944451993077, + 725.4536021173515, + -20.326720293685227 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -717.4944451993077, + 728.0516783287048, + -20.326720293685227 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -718.9944451993077, + 730.6497545400582, + -20.326720293685227 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -720.4944451993077, + 733.2478307514116, + -20.326720293685227 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -721.9944451993077, + 735.845906962765, + -20.326720293685227 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -723.4944451993077, + 738.4439831741183, + -20.326720293685227 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -724.9944451993077, + 741.0420593854717, + -20.326720293685227 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -726.4944451993077, + 743.6401355968251, + -20.326720293685227 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -727.9944451993077, + 746.2382118081784, + -20.326720293685227 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -729.4944451993077, + 748.8362880195318, + -20.326720293685227 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -730.9944451993077, + 751.4343642308852, + -20.326720293685227 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -732.4944451993077, + 754.0324404422386, + -20.326720293685227 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -733.9944451993077, + 756.6305166535919, + -20.326720293685227 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -735.4944451993077, + 759.2285928649453, + -20.326720293685227 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [] +} +{ + "action": { + "imageid": 32, + "pos": [ + -736.9944451993077, + 761.8266690762987, + -20.326720293685227 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [] +} +{ + "action": { + "imageid": 33, + "pos": [ + -738.4944451993077, + 764.4247452876521, + -20.326720293685227 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + }, + "objects": [] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_17-14-47_1102520059/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_17-14-47_1102520059/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2c8949e207ed640fb0442315f3a3ec6c8dd25475 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_17-14-47_1102520059/pose.jsonl @@ -0,0 +1,1564 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -658.6864282293935, + 129.7149494868738, + -16.03851118024336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -658.6864282293935, + 132.7149494868738, + -16.03851118024336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -658.6864282293935, + 135.7149494868738, + -16.03851118024336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -658.6864282293935, + 138.7149494868738, + -16.03851118024336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -658.6864282293935, + 141.7149494868738, + -16.03851118024336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -658.6864282293935, + 144.7149494868738, + -16.03851118024336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -658.6864282293935, + 147.7149494868738, + -16.03851118024336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -658.6864282293935, + 150.7149494868738, + -16.03851118024336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -658.6864282293935, + 153.7149494868738, + -16.03851118024336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -658.6864282293935, + 156.7149494868738, + -16.03851118024336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -658.6864282293935, + 159.7149494868738, + -16.03851118024336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -658.6864282293935, + 162.7149494868738, + -16.03851118024336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -658.6864282293935, + 165.7149494868738, + -16.03851118024336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -658.6864282293935, + 168.7149494868738, + -16.03851118024336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -658.6864282293935, + 171.7149494868738, + -16.03851118024336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -658.6864282293935, + 174.7149494868738, + -16.03851118024336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -658.6864282293935, + 177.7149494868738, + -16.03851118024336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -658.6864282293935, + 180.7149494868738, + -16.03851118024336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -658.6864282293935, + 183.7149494868738, + -16.03851118024336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -658.6864282293935, + 186.7149494868738, + -16.03851118024336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -658.6864282293935, + 189.7149494868738, + -16.03851118024336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -658.6864282293935, + 192.7149494868738, + -16.03851118024336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -658.6864282293935, + 195.7149494868738, + -16.03851118024336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -658.6864282293935, + 198.7149494868738, + -16.03851118024336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -658.6864282293935, + 201.7149494868738, + -16.03851118024336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -658.6864282293935, + 204.7149494868738, + -16.03851118024336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -658.6864282293935, + 207.7149494868738, + -16.03851118024336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -658.6864282293935, + 210.7149494868738, + -16.03851118024336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -658.6864282293935, + 213.7149494868738, + -16.03851118024336 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -658.6864282293935, + 213.7149494868738, + -16.03851118024336 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -658.6864282293935, + 213.7149494868738, + -16.03851118024336 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -661.2845044407468, + 215.2149494868738, + -16.03851118024336 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -663.8825806521002, + 216.7149494868738, + -16.03851118024336 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -666.4806568634535, + 218.2149494868738, + -16.03851118024336 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_17-19-10_278722862/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_17-19-10_278722862/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..47fae0f25fe05deb824dffcdfd22e25e594a8d03 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_17-19-10_278722862/pose.jsonl @@ -0,0 +1,1092 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -609.4881962168495, + 8.36972280457465, + -23.750007949494165 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [] +} +{ + "action": { + "imageid": 1, + "pos": [ + -606.8901200054961, + 9.86972280457465, + -23.750007949494165 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [] +} +{ + "action": { + "imageid": 2, + "pos": [ + -604.2920437941427, + 11.36972280457465, + -23.750007949494165 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [] +} +{ + "action": { + "imageid": 3, + "pos": [ + -601.6939675827894, + 12.86972280457465, + -23.750007949494165 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [] +} +{ + "action": { + "imageid": 4, + "pos": [ + -599.095891371436, + 14.36972280457465, + -23.750007949494165 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [] +} +{ + "action": { + "imageid": 5, + "pos": [ + -596.4978151600826, + 15.86972280457465, + -23.750007949494165 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [] +} +{ + "action": { + "imageid": 6, + "pos": [ + -593.8997389487292, + 17.36972280457465, + -23.750007949494165 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [] +} +{ + "action": { + "imageid": 7, + "pos": [ + -591.3016627373759, + 18.86972280457465, + -23.750007949494165 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -588.7035865260225, + 20.36972280457465, + -23.750007949494165 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -586.1055103146691, + 21.86972280457465, + -23.750007949494165 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -583.5074341033157, + 23.36972280457465, + -23.750007949494165 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -580.9093578919624, + 24.86972280457465, + -23.750007949494165 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -578.311281680609, + 26.36972280457465, + -23.750007949494165 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -575.7132054692556, + 27.86972280457465, + -23.750007949494165 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -573.1151292579023, + 29.36972280457465, + -23.750007949494165 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -570.5170530465489, + 30.86972280457465, + -23.750007949494165 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -567.9189768351955, + 32.36972280457465, + -23.750007949494165 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -565.3209006238421, + 33.86972280457465, + -23.750007949494165 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -562.7228244124888, + 35.36972280457465, + -23.750007949494165 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -560.1247482011354, + 36.86972280457465, + -23.750007949494165 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -557.526671989782, + 38.36972280457465, + -23.750007949494165 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -554.9285957784286, + 39.86972280457465, + -23.750007949494165 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -552.3305195670753, + 41.36972280457465, + -23.750007949494165 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -549.7324433557219, + 42.86972280457465, + -23.750007949494165 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -547.1343671443685, + 44.36972280457465, + -23.750007949494165 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -544.5362909330152, + 45.86972280457465, + -23.750007949494165 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -544.5362909330152, + 45.86972280457465, + -23.750007949494165 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -543.0362909330152, + 48.467799015927966, + -23.750007949494165 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -541.5362909330152, + 51.06587522728128, + -23.750007949494165 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -540.0362909330152, + 53.6639514386346, + -23.750007949494165 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -538.5362909330152, + 56.262027649987914, + -23.750007949494165 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -537.0362909330152, + 58.86010386134123, + -23.750007949494165 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -535.5362909330152, + 61.458180072694546, + -23.750007949494165 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -534.0362909330152, + 64.05625628404786, + -23.750007949494165 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -532.5362909330152, + 66.65433249540118, + -23.750007949494165 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -531.0362909330152, + 69.2524087067545, + -23.750007949494165 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -529.5362909330152, + 71.85048491810781, + -23.750007949494165 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -528.0362909330152, + 74.44856112946113, + -23.750007949494165 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -526.5362909330152, + 77.04663734081444, + -23.750007949494165 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 39, + "pos": [ + -525.0362909330152, + 79.64471355216776, + -23.750007949494165 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 40, + "pos": [ + -523.5362909330152, + 82.24278976352107, + -23.750007949494165 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 41, + "pos": [ + -522.0362909330152, + 84.84086597487439, + -23.750007949494165 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_17-23-59_1131176229/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_17-23-59_1131176229/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..885e6def1fe7ff6fdc8c47cf7ae0d986d51f5e32 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_17-23-59_1131176229/pose.jsonl @@ -0,0 +1,1008 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -19.992059179866047, + 268.7797583123716, + -12.333450770456796 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [] +} +{ + "action": { + "imageid": 1, + "pos": [ + -21.492059179866047, + 266.1816821010183, + -12.333450770456796 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [] +} +{ + "action": { + "imageid": 2, + "pos": [ + -22.992059179866047, + 263.58360588966497, + -12.333450770456796 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [] +} +{ + "action": { + "imageid": 3, + "pos": [ + -24.492059179866047, + 260.98552967831165, + -12.333450770456796 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [] +} +{ + "action": { + "imageid": 4, + "pos": [ + -25.992059179866047, + 258.38745346695833, + -12.333450770456796 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [] +} +{ + "action": { + "imageid": 5, + "pos": [ + -27.492059179866047, + 255.78937725560502, + -12.333450770456796 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -28.992059179866047, + 253.1913010442517, + -12.333450770456796 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -30.492059179866047, + 250.5932248328984, + -12.333450770456796 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -31.992059179866047, + 247.99514862154507, + -12.333450770456796 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -33.49205917986605, + 245.39707241019175, + -12.333450770456796 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -34.99205917986605, + 242.79899619883844, + -12.333450770456796 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -36.49205917986605, + 240.20091998748512, + -12.333450770456796 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -37.99205917986605, + 237.6028437761318, + -12.333450770456796 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -39.49205917986605, + 235.0047675647785, + -12.333450770456796 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -40.99205917986605, + 232.40669135342517, + -12.333450770456796 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -42.49205917986605, + 229.80861514207186, + -12.333450770456796 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -43.99205917986605, + 227.21053893071854, + -12.333450770456796 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -45.49205917986605, + 224.61246271936523, + -12.333450770456796 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -46.99205917986605, + 222.0143865080119, + -12.333450770456796 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -48.49205917986605, + 219.4163102966586, + -12.333450770456796 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -49.99205917986605, + 216.81823408530528, + -12.333450770456796 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -51.49205917986605, + 214.22015787395196, + -12.333450770456796 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -52.99205917986605, + 211.62208166259865, + -12.333450770456796 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -52.99205917986605, + 211.62208166259865, + -12.333450770456796 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -55.59013539121936, + 210.12208166259865, + -12.333450770456796 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -58.18821160257268, + 208.62208166259865, + -12.333450770456796 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -60.786287813925995, + 207.12208166259865, + -12.333450770456796 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -63.38436402527931, + 205.62208166259865, + -12.333450770456796 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -65.98244023663263, + 204.12208166259865, + -12.333450770456796 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -68.58051644798594, + 202.62208166259865, + -12.333450770456796 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -71.17859265933926, + 201.12208166259865, + -12.333450770456796 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -73.77666887069257, + 199.62208166259865, + -12.333450770456796 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -76.37474508204589, + 198.12208166259865, + -12.333450770456796 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -78.9728212933992, + 196.62208166259865, + -12.333450770456796 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -81.57089750475252, + 195.12208166259865, + -12.333450770456796 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -84.16897371610584, + 193.62208166259865, + -12.333450770456796 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -86.76704992745915, + 192.12208166259865, + -12.333450770456796 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -89.36512613881247, + 190.62208166259865, + -12.333450770456796 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_17-26-51_149798315/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_17-26-51_149798315/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..91a43bf77a7276700b5a0da735543aa73934fdc0 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_17-26-51_149798315/pose.jsonl @@ -0,0 +1,812 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -568.2384292524996, + 748.4435831466172, + -17.18980618047875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -570.836505463853, + 749.9435831466172, + -17.18980618047875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -573.4345816752063, + 751.4435831466172, + -17.18980618047875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -576.0326578865597, + 752.9435831466172, + -17.18980618047875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -578.6307340979131, + 754.4435831466172, + -17.18980618047875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -581.2288103092665, + 755.9435831466172, + -17.18980618047875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -583.8268865206198, + 757.4435831466172, + -17.18980618047875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -586.4249627319732, + 758.9435831466172, + -17.18980618047875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -589.0230389433266, + 760.4435831466172, + -17.18980618047875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -591.62111515468, + 761.9435831466172, + -17.18980618047875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -594.2191913660333, + 763.4435831466172, + -17.18980618047875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -596.8172675773867, + 764.9435831466172, + -17.18980618047875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -599.4153437887401, + 766.4435831466172, + -17.18980618047875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -602.0134200000934, + 767.9435831466172, + -17.18980618047875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -604.6114962114468, + 769.4435831466172, + -17.18980618047875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -607.2095724228002, + 770.9435831466172, + -17.18980618047875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -609.8076486341536, + 772.4435831466172, + -17.18980618047875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -612.4057248455069, + 773.9435831466172, + -17.18980618047875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -615.0038010568603, + 775.4435831466172, + -17.18980618047875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -617.6018772682137, + 776.9435831466172, + -17.18980618047875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -620.1999534795671, + 778.4435831466172, + -17.18980618047875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -622.7980296909204, + 779.9435831466172, + -17.18980618047875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -625.3961059022738, + 781.4435831466172, + -17.18980618047875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -627.9941821136272, + 782.9435831466172, + -17.18980618047875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -630.5922583249805, + 784.4435831466172, + -17.18980618047875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -633.1903345363339, + 785.9435831466172, + -17.18980618047875 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -633.1903345363339, + 785.9435831466172, + -17.18980618047875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -634.6903345363339, + 788.5416593579705, + -17.18980618047875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -636.1903345363339, + 791.1397355693239, + -17.18980618047875 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + }, + "objects": [] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_17-27-10_2038664370/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_17-27-10_2038664370/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3bba1356cc6450f5d7757a6ae35765c5a7bf7ae5 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_17-27-10_2038664370/pose.jsonl @@ -0,0 +1,1371 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -627.610128496393, + 75.84287857613265, + -25.21288829389583 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -627.610128496393, + 78.84287857613265, + -25.21288829389583 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -627.610128496393, + 81.84287857613265, + -25.21288829389583 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -627.610128496393, + 84.84287857613265, + -25.21288829389583 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -627.610128496393, + 87.84287857613265, + -25.21288829389583 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -627.610128496393, + 90.84287857613265, + -25.21288829389583 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -627.610128496393, + 93.84287857613265, + -25.21288829389583 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -627.610128496393, + 96.84287857613265, + -25.21288829389583 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -627.610128496393, + 99.84287857613265, + -25.21288829389583 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -627.610128496393, + 102.84287857613265, + -25.21288829389583 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -627.610128496393, + 105.84287857613265, + -25.21288829389583 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -627.610128496393, + 108.84287857613265, + -25.21288829389583 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -627.610128496393, + 111.84287857613265, + -25.21288829389583 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -627.610128496393, + 114.84287857613265, + -25.21288829389583 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -627.610128496393, + 117.84287857613265, + -25.21288829389583 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -627.610128496393, + 120.84287857613265, + -25.21288829389583 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -627.610128496393, + 123.84287857613265, + -25.21288829389583 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -627.610128496393, + 126.84287857613265, + -25.21288829389583 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -627.610128496393, + 129.84287857613265, + -25.21288829389583 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -627.610128496393, + 132.84287857613265, + -25.21288829389583 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -627.610128496393, + 135.84287857613265, + -25.21288829389583 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -627.610128496393, + 138.84287857613265, + -25.21288829389583 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -627.610128496393, + 141.84287857613265, + -25.21288829389583 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -627.610128496393, + 144.84287857613265, + -25.21288829389583 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -627.610128496393, + 147.84287857613265, + -25.21288829389583 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -627.610128496393, + 150.84287857613265, + -25.21288829389583 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -627.610128496393, + 150.84287857613265, + -25.21288829389583 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -627.610128496393, + 150.84287857613265, + -25.21288829389583 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -630.2082047077463, + 152.34287857613265, + -25.21288829389583 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -632.8062809190997, + 153.84287857613265, + -25.21288829389583 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -635.404357130453, + 155.34287857613265, + -25.21288829389583 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -638.0024333418064, + 156.84287857613265, + -25.21288829389583 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -638.0024333418064, + 156.84287857613265, + -25.21288829389583 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -639.5024333418064, + 159.44095478748596, + -25.21288829389583 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -641.0024333418064, + 162.03903099883928, + -25.21288829389583 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_17-38-15_356426808/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_17-38-15_356426808/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bfcb41ff5b96078421f09b3b9bd11aa7ae904b8e --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_17-38-15_356426808/pose.jsonl @@ -0,0 +1,1573 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -841.2937201560554, + 420.25260894448445, + -17.368285612436267 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -841.2937201560554, + 423.25260894448445, + -17.368285612436267 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -841.2937201560554, + 426.25260894448445, + -17.368285612436267 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -841.2937201560554, + 429.25260894448445, + -17.368285612436267 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -841.2937201560554, + 432.25260894448445, + -17.368285612436267 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -841.2937201560554, + 435.25260894448445, + -17.368285612436267 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -841.2937201560554, + 438.25260894448445, + -17.368285612436267 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -841.2937201560554, + 441.25260894448445, + -17.368285612436267 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -841.2937201560554, + 444.25260894448445, + -17.368285612436267 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -841.2937201560554, + 447.25260894448445, + -17.368285612436267 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -841.2937201560554, + 450.25260894448445, + -17.368285612436267 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -841.2937201560554, + 453.25260894448445, + -17.368285612436267 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -841.2937201560554, + 456.25260894448445, + -17.368285612436267 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -841.2937201560554, + 459.25260894448445, + -17.368285612436267 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -841.2937201560554, + 462.25260894448445, + -17.368285612436267 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -841.2937201560554, + 465.25260894448445, + -17.368285612436267 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -841.2937201560554, + 468.25260894448445, + -17.368285612436267 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -841.2937201560554, + 468.25260894448445, + -17.368285612436267 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -839.7937201560554, + 470.85068515583777, + -17.368285612436267 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -838.2937201560554, + 473.4487613671911, + -17.368285612436267 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -836.7937201560554, + 476.0468375785444, + -17.368285612436267 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -835.2937201560554, + 478.6449137898977, + -17.368285612436267 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -833.7937201560554, + 481.24299000125103, + -17.368285612436267 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -832.2937201560554, + 483.84106621260435, + -17.368285612436267 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -830.7937201560554, + 486.43914242395766, + -17.368285612436267 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -829.2937201560554, + 489.037218635311, + -17.368285612436267 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -827.7937201560554, + 491.6352948466643, + -17.368285612436267 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -826.2937201560554, + 494.2333710580176, + -17.368285612436267 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -824.7937201560554, + 496.8314472693709, + -17.368285612436267 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -823.2937201560554, + 499.42952348072424, + -17.368285612436267 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -821.7937201560554, + 502.02759969207756, + -17.368285612436267 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -820.2937201560554, + 504.6256759034309, + -17.368285612436267 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_17-40-13_1918502651/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_17-40-13_1918502651/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d35e544434bbbc02dec922458cfd6399d1e430bb --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_17-40-13_1918502651/pose.jsonl @@ -0,0 +1,1285 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -11.598830916590842, + 86.23902110077051, + -8.549484557672514 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [] +} +{ + "action": { + "imageid": 1, + "pos": [ + -9.000754705237526, + 87.73902110077051, + -8.549484557672514 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [] +} +{ + "action": { + "imageid": 2, + "pos": [ + -6.40267849388421, + 89.23902110077051, + -8.549484557672514 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [] +} +{ + "action": { + "imageid": 3, + "pos": [ + -3.804602282530894, + 90.73902110077051, + -8.549484557672514 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -1.2065260711775778, + 92.23902110077051, + -8.549484557672514 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + 1.3915501401757382, + 93.73902110077051, + -8.549484557672514 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + 3.989626351529054, + 95.23902110077051, + -8.549484557672514 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + 6.58770256288237, + 96.73902110077051, + -8.549484557672514 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + 9.185778774235686, + 98.23902110077051, + -8.549484557672514 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + 11.783854985589002, + 99.73902110077051, + -8.549484557672514 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + 14.381931196942318, + 101.23902110077051, + -8.549484557672514 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + 16.980007408295634, + 102.73902110077051, + -8.549484557672514 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + 19.57808361964895, + 104.23902110077051, + -8.549484557672514 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + 22.176159831002266, + 105.73902110077051, + -8.549484557672514 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + 24.774236042355582, + 107.23902110077051, + -8.549484557672514 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + 27.3723122537089, + 108.73902110077051, + -8.549484557672514 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + 29.970388465062214, + 110.23902110077051, + -8.549484557672514 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + 32.56846467641553, + 111.73902110077051, + -8.549484557672514 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + 35.166540887768846, + 113.23902110077051, + -8.549484557672514 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + 37.76461709912216, + 114.73902110077051, + -8.549484557672514 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + 40.36269331047548, + 116.23902110077051, + -8.549484557672514 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + 42.960769521828794, + 117.73902110077051, + -8.549484557672514 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + 45.55884573318211, + 119.23902110077051, + -8.549484557672514 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + 48.156921944535426, + 120.73902110077051, + -8.549484557672514 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + 50.75499815588874, + 122.23902110077051, + -8.549484557672514 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + 53.35307436724206, + 123.73902110077051, + -8.549484557672514 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + 55.951150578595374, + 125.23902110077051, + -8.549484557672514 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + 58.54922678994869, + 126.73902110077051, + -8.549484557672514 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + 61.14730300130201, + 128.23902110077051, + -8.549484557672514 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + 63.74537921265532, + 129.73902110077051, + -8.549484557672514 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + 66.34345542400864, + 131.23902110077051, + -8.549484557672514 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + 66.34345542400864, + 131.23902110077051, + -8.549484557672514 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + 67.84345542400864, + 133.83709731212383, + -8.549484557672514 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + 69.34345542400864, + 136.43517352347715, + -8.549484557672514 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + 70.84345542400864, + 139.03324973483046, + -8.549484557672514 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + 72.34345542400864, + 141.63132594618378, + -8.549484557672514 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + 73.84345542400864, + 144.2294021575371, + -8.549484557672514 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + 73.84345542400864, + 144.2294021575371, + -8.549484557672514 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + 73.84345542400864, + 147.2294021575371, + -8.549484557672514 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_17-40-34_752392754/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_17-40-34_752392754/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6c275a8671536652d7f50780c1a78617b9a9baad --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_17-40-34_752392754/pose.jsonl @@ -0,0 +1,882 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -118.0829626760324, + 103.8104533164891, + -22.375963816928234 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -116.5829626760324, + 106.40852952784242, + -22.375963816928234 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -115.0829626760324, + 109.00660573919573, + -22.375963816928234 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -113.5829626760324, + 111.60468195054905, + -22.375963816928234 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -112.0829626760324, + 114.20275816190237, + -22.375963816928234 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -110.5829626760324, + 116.80083437325568, + -22.375963816928234 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -109.0829626760324, + 119.398910584609, + -22.375963816928234 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -107.5829626760324, + 121.99698679596231, + -22.375963816928234 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -106.0829626760324, + 124.59506300731563, + -22.375963816928234 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -104.5829626760324, + 127.19313921866895, + -22.375963816928234 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -103.0829626760324, + 129.79121543002225, + -22.375963816928234 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965954 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -101.5829626760324, + 132.38929164137556, + -22.375963816928234 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -100.0829626760324, + 134.98736785272888, + -22.375963816928234 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -98.5829626760324, + 137.5854440640822, + -22.375963816928234 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -97.0829626760324, + 140.1835202754355, + -22.375963816928234 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -95.5829626760324, + 142.78159648678883, + -22.375963816928234 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -94.0829626760324, + 145.37967269814214, + -22.375963816928234 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -92.5829626760324, + 147.97774890949546, + -22.375963816928234 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -91.0829626760324, + 150.57582512084878, + -22.375963816928234 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -91.0829626760324, + 150.57582512084878, + -22.375963816928234 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -91.0829626760324, + 153.57582512084878, + -22.375963816928234 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -91.0829626760324, + 156.57582512084878, + -22.375963816928234 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -91.0829626760324, + 159.57582512084878, + -22.375963816928234 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -91.0829626760324, + 162.57582512084878, + -22.375963816928234 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -91.0829626760324, + 165.57582512084878, + -22.375963816928234 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -91.0829626760324, + 168.57582512084878, + -22.375963816928234 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -91.0829626760324, + 171.57582512084878, + -22.375963816928234 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -91.0829626760324, + 174.57582512084878, + -22.375963816928234 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -91.0829626760324, + 177.57582512084878, + -22.375963816928234 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -91.0829626760324, + 180.57582512084878, + -22.375963816928234 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -91.0829626760324, + 183.57582512084878, + -22.375963816928234 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [] +} +{ + "action": { + "imageid": 31, + "pos": [ + -91.0829626760324, + 186.57582512084878, + -22.375963816928234 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + }, + "objects": [] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_17-43-57_1469348094/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_17-43-57_1469348094/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5e908f7aa83a8ecdc2fe6567d2d7fcbeb072eb32 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_17-43-57_1469348094/pose.jsonl @@ -0,0 +1,1778 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -766.49301133693, + 587.938055820781, + -22.482137556864075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -763.49301133693, + 587.938055820781, + -22.482137556864075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -760.49301133693, + 587.938055820781, + -22.482137556864075 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -760.49301133693, + 587.938055820781, + -22.482137556864075 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -760.49301133693, + 587.938055820781, + -22.482137556864075 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -758.99301133693, + 590.5361320321342, + -22.482137556864075 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -757.49301133693, + 593.1342082434876, + -22.482137556864075 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -757.49301133693, + 593.1342082434876, + -22.482137556864075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -754.8949351255767, + 594.6342082434876, + -22.482137556864075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -752.2968589142233, + 596.1342082434876, + -22.482137556864075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -749.69878270287, + 597.6342082434876, + -22.482137556864075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -747.1007064915166, + 599.1342082434876, + -22.482137556864075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -744.5026302801632, + 600.6342082434876, + -22.482137556864075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -741.9045540688098, + 602.1342082434876, + -22.482137556864075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -739.3064778574565, + 603.6342082434876, + -22.482137556864075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -736.7084016461031, + 605.1342082434876, + -22.482137556864075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -734.1103254347497, + 606.6342082434876, + -22.482137556864075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -731.5122492233963, + 608.1342082434876, + -22.482137556864075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -728.914173012043, + 609.6342082434876, + -22.482137556864075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -726.3160968006896, + 611.1342082434876, + -22.482137556864075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -723.7180205893362, + 612.6342082434876, + -22.482137556864075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -721.1199443779828, + 614.1342082434876, + -22.482137556864075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -718.5218681666295, + 615.6342082434876, + -22.482137556864075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -715.9237919552761, + 617.1342082434876, + -22.482137556864075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -713.3257157439227, + 618.6342082434876, + -22.482137556864075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -710.7276395325694, + 620.1342082434876, + -22.482137556864075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -708.129563321216, + 621.6342082434876, + -22.482137556864075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -705.5314871098626, + 623.1342082434876, + -22.482137556864075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -702.9334108985092, + 624.6342082434876, + -22.482137556864075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -700.3353346871559, + 626.1342082434876, + -22.482137556864075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -697.7372584758025, + 627.6342082434876, + -22.482137556864075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -695.1391822644491, + 629.1342082434876, + -22.482137556864075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -692.5411060530957, + 630.6342082434876, + -22.482137556864075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -689.9430298417424, + 632.1342082434876, + -22.482137556864075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -687.344953630389, + 633.6342082434876, + -22.482137556864075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -684.7468774190356, + 635.1342082434876, + -22.482137556864075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -682.1488012076823, + 636.6342082434876, + -22.482137556864075 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_17-48-35_660260756/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_17-48-35_660260756/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c6b81349417290cecb64d6e228914a6d7074d036 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_17-48-35_660260756/pose.jsonl @@ -0,0 +1,1586 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -405.50325117025267, + 401.5636564293739, + -5.921450278629742 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [] +} +{ + "action": { + "imageid": 1, + "pos": [ + -407.00325117025267, + 404.1617326407272, + -5.921450278629742 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [] +} +{ + "action": { + "imageid": 2, + "pos": [ + -408.50325117025267, + 406.75980885208054, + -5.921450278629742 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [] +} +{ + "action": { + "imageid": 3, + "pos": [ + -410.00325117025267, + 409.35788506343386, + -5.921450278629742 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -411.50325117025267, + 411.95596127478717, + -5.921450278629742 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -413.00325117025267, + 414.5540374861405, + -5.921450278629742 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -414.50325117025267, + 417.1521136974938, + -5.921450278629742 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -416.00325117025267, + 419.7501899088471, + -5.921450278629742 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -417.50325117025267, + 422.34826612020044, + -5.921450278629742 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -419.00325117025267, + 424.94634233155375, + -5.921450278629742 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -420.50325117025267, + 427.54441854290707, + -5.921450278629742 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -422.00325117025267, + 430.1424947542604, + -5.921450278629742 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -423.50325117025267, + 432.7405709656137, + -5.921450278629742 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -425.00325117025267, + 435.338647176967, + -5.921450278629742 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -426.50325117025267, + 437.93672338832033, + -5.921450278629742 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -428.00325117025267, + 440.53479959967365, + -5.921450278629742 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -429.50325117025267, + 443.13287581102696, + -5.921450278629742 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -429.50325117025267, + 443.13287581102696, + -5.921450278629742 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -432.101327381606, + 444.63287581102696, + -5.921450278629742 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -434.6994035929593, + 446.13287581102696, + -5.921450278629742 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -437.2974798043126, + 447.63287581102696, + -5.921450278629742 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -439.89555601566593, + 449.13287581102696, + -5.921450278629742 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -442.49363222701925, + 450.63287581102696, + -5.921450278629742 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -445.09170843837256, + 452.13287581102696, + -5.921450278629742 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -447.6897846497259, + 453.63287581102696, + -5.921450278629742 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -450.2878608610792, + 455.13287581102696, + -5.921450278629742 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -452.8859370724325, + 456.63287581102696, + -5.921450278629742 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -455.4840132837858, + 458.13287581102696, + -5.921450278629742 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -458.08208949513914, + 459.63287581102696, + -5.921450278629742 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -460.68016570649246, + 461.13287581102696, + -5.921450278629742 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -463.2782419178458, + 462.63287581102696, + -5.921450278629742 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -465.8763181291991, + 464.13287581102696, + -5.921450278629742 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -468.4743943405524, + 465.63287581102696, + -5.921450278629742 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -471.0724705519057, + 467.13287581102696, + -5.921450278629742 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -473.67054676325904, + 468.63287581102696, + -5.921450278629742 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -476.26862297461236, + 470.13287581102696, + -5.921450278629742 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -476.26862297461236, + 470.13287581102696, + -5.921450278629742 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -477.76862297461236, + 472.7309520223803, + -5.921450278629742 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -479.26862297461236, + 475.3290282337336, + -5.921450278629742 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 39, + "pos": [ + -480.76862297461236, + 477.9271044450869, + -5.921450278629742 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_17-51-14_1947346619/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_17-51-14_1947346619/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5409675b4cb3aaf508fecdb4cc3ba7c57d174ffd --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_17-51-14_1947346619/pose.jsonl @@ -0,0 +1,896 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 182.381958227821, + 167.25221807291342, + -13.637466340814981 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 1, + "pos": [ + 179.381958227821, + 167.25221807291342, + -13.637466340814981 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 2, + "pos": [ + 176.381958227821, + 167.25221807291342, + -13.637466340814981 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 3, + "pos": [ + 173.381958227821, + 167.25221807291342, + -13.637466340814981 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 4, + "pos": [ + 170.381958227821, + 167.25221807291342, + -13.637466340814981 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 5, + "pos": [ + 167.381958227821, + 167.25221807291342, + -13.637466340814981 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 6, + "pos": [ + 164.381958227821, + 167.25221807291342, + -13.637466340814981 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 7, + "pos": [ + 161.381958227821, + 167.25221807291342, + -13.637466340814981 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 8, + "pos": [ + 158.381958227821, + 167.25221807291342, + -13.637466340814981 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 9, + "pos": [ + 155.381958227821, + 167.25221807291342, + -13.637466340814981 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 10, + "pos": [ + 152.381958227821, + 167.25221807291342, + -13.637466340814981 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 11, + "pos": [ + 149.381958227821, + 167.25221807291342, + -13.637466340814981 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 12, + "pos": [ + 146.381958227821, + 167.25221807291342, + -13.637466340814981 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 13, + "pos": [ + 143.381958227821, + 167.25221807291342, + -13.637466340814981 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 14, + "pos": [ + 140.381958227821, + 167.25221807291342, + -13.637466340814981 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 15, + "pos": [ + 137.381958227821, + 167.25221807291342, + -13.637466340814981 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 16, + "pos": [ + 134.381958227821, + 167.25221807291342, + -13.637466340814981 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 17, + "pos": [ + 131.381958227821, + 167.25221807291342, + -13.637466340814981 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + 128.381958227821, + 167.25221807291342, + -13.637466340814981 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + 125.381958227821, + 167.25221807291342, + -13.637466340814981 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + 122.381958227821, + 167.25221807291342, + -13.637466340814981 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + 119.381958227821, + 167.25221807291342, + -13.637466340814981 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + 116.381958227821, + 167.25221807291342, + -13.637466340814981 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + 113.381958227821, + 167.25221807291342, + -13.637466340814981 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + 110.381958227821, + 167.25221807291342, + -13.637466340814981 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + 107.381958227821, + 167.25221807291342, + -13.637466340814981 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + 104.381958227821, + 167.25221807291342, + -13.637466340814981 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + 101.381958227821, + 167.25221807291342, + -13.637466340814981 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + 98.381958227821, + 167.25221807291342, + -13.637466340814981 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + 95.381958227821, + 167.25221807291342, + -13.637466340814981 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + 92.381958227821, + 167.25221807291342, + -13.637466340814981 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + 89.381958227821, + 167.25221807291342, + -13.637466340814981 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + 86.381958227821, + 167.25221807291342, + -13.637466340814981 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + 86.381958227821, + 167.25221807291342, + -13.637466340814981 + ], + "type": "turn left", + "value": 30, + "yaw": 3.665191429188092 + }, + "objects": [] +} +{ + "action": { + "imageid": 34, + "pos": [ + 86.381958227821, + 167.25221807291342, + -13.637466340814981 + ], + "type": "go straight", + "value": 3, + "yaw": 4.1887902047863905 + }, + "objects": [] +} +{ + "action": { + "imageid": 35, + "pos": [ + 84.881958227821, + 164.6541418615601, + -13.637466340814981 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + 83.381958227821, + 162.0560656502068, + -13.637466340814981 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + 81.881958227821, + 159.45798943885347, + -13.637466340814981 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + 80.381958227821, + 156.85991322750016, + -13.637466340814981 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 39, + "pos": [ + 78.881958227821, + 154.26183701614684, + -13.637466340814981 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 40, + "pos": [ + 77.381958227821, + 151.66376080479353, + -13.637466340814981 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_17-58-9_1600028624/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_17-58-9_1600028624/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c5a5bdd6a8b7ce7fddf9af5e5c3d13ab5c0c7037 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_17-58-9_1600028624/pose.jsonl @@ -0,0 +1,1728 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -768.3035033283005, + 100.53689519181007, + -15.275686051915462 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -765.3035033283005, + 100.53689519181007, + -15.275686051915462 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -762.3035033283005, + 100.53689519181007, + -15.275686051915462 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -759.3035033283005, + 100.53689519181007, + -15.275686051915462 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [] +} +{ + "action": { + "imageid": 4, + "pos": [ + -756.3035033283005, + 100.53689519181007, + -15.275686051915462 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + }, + "objects": [] +} +{ + "action": { + "imageid": 5, + "pos": [ + -756.3035033283005, + 100.53689519181007, + -15.275686051915462 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -756.3035033283005, + 100.53689519181007, + -15.275686051915462 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -754.8035033283005, + 103.13497140316339, + -15.275686051915462 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -753.3035033283005, + 105.7330476145167, + -15.275686051915462 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -751.8035033283005, + 108.33112382587002, + -15.275686051915462 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -750.3035033283005, + 110.92920003722334, + -15.275686051915462 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -748.8035033283005, + 113.52727624857665, + -15.275686051915462 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -747.3035033283005, + 116.12535245992997, + -15.275686051915462 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -745.8035033283005, + 118.72342867128329, + -15.275686051915462 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -744.3035033283005, + 121.3215048826366, + -15.275686051915462 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -742.8035033283005, + 123.91958109398992, + -15.275686051915462 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -741.3035033283005, + 126.51765730534323, + -15.275686051915462 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -739.8035033283005, + 129.11573351669654, + -15.275686051915462 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965954 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -738.3035033283005, + 131.71380972804985, + -15.275686051915462 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -736.8035033283005, + 134.31188593940317, + -15.275686051915462 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -735.3035033283005, + 136.90996215075648, + -15.275686051915462 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -733.8035033283005, + 139.5080383621098, + -15.275686051915462 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -732.3035033283005, + 142.10611457346312, + -15.275686051915462 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -730.8035033283005, + 144.70419078481643, + -15.275686051915462 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -730.8035033283005, + 144.70419078481643, + -15.275686051915462 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -728.2054271169472, + 146.20419078481643, + -15.275686051915462 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -725.6073509055939, + 147.70419078481643, + -15.275686051915462 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -723.0092746942405, + 149.20419078481643, + -15.275686051915462 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -720.4111984828871, + 150.70419078481643, + -15.275686051915462 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -717.8131222715338, + 152.20419078481643, + -15.275686051915462 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -715.2150460601804, + 153.70419078481643, + -15.275686051915462 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -712.616969848827, + 155.20419078481643, + -15.275686051915462 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -710.0188936374736, + 156.70419078481643, + -15.275686051915462 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -707.4208174261203, + 158.20419078481643, + -15.275686051915462 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -704.8227412147669, + 159.70419078481643, + -15.275686051915462 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -702.2246650034135, + 161.20419078481643, + -15.275686051915462 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -699.6265887920601, + 162.70419078481643, + -15.275686051915462 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -697.0285125807068, + 164.20419078481643, + -15.275686051915462 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -694.4304363693534, + 165.70419078481643, + -15.275686051915462 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_18-15-43_1239036029/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_18-15-43_1239036029/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4cb22f8d17d3e9fb3801a368c30c0c5ef93676d0 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_18-15-43_1239036029/pose.jsonl @@ -0,0 +1,1008 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -539.3880612700291, + 733.1454013123666, + -9.618529448067818 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [] +} +{ + "action": { + "imageid": 1, + "pos": [ + -541.9861374813825, + 734.6454013123666, + -9.618529448067818 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [] +} +{ + "action": { + "imageid": 2, + "pos": [ + -544.5842136927358, + 736.1454013123666, + -9.618529448067818 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [] +} +{ + "action": { + "imageid": 3, + "pos": [ + -547.1822899040892, + 737.6454013123666, + -9.618529448067818 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [] +} +{ + "action": { + "imageid": 4, + "pos": [ + -549.7803661154426, + 739.1454013123666, + -9.618529448067818 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [] +} +{ + "action": { + "imageid": 5, + "pos": [ + -552.378442326796, + 740.6454013123666, + -9.618529448067818 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [] +} +{ + "action": { + "imageid": 6, + "pos": [ + -554.9765185381493, + 742.1454013123666, + -9.618529448067818 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -557.5745947495027, + 743.6454013123666, + -9.618529448067818 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -560.1726709608561, + 745.1454013123666, + -9.618529448067818 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -562.7707471722094, + 746.6454013123666, + -9.618529448067818 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -565.3688233835628, + 748.1454013123666, + -9.618529448067818 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -567.9668995949162, + 749.6454013123666, + -9.618529448067818 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -570.5649758062696, + 751.1454013123666, + -9.618529448067818 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -573.1630520176229, + 752.6454013123666, + -9.618529448067818 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -575.7611282289763, + 754.1454013123666, + -9.618529448067818 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -578.3592044403297, + 755.6454013123666, + -9.618529448067818 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -580.957280651683, + 757.1454013123666, + -9.618529448067818 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -583.5553568630364, + 758.6454013123666, + -9.618529448067818 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -586.1534330743898, + 760.1454013123666, + -9.618529448067818 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -588.7515092857432, + 761.6454013123666, + -9.618529448067818 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -591.3495854970965, + 763.1454013123666, + -9.618529448067818 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -593.9476617084499, + 764.6454013123666, + -9.618529448067818 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -596.5457379198033, + 766.1454013123666, + -9.618529448067818 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -599.1438141311567, + 767.6454013123666, + -9.618529448067818 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -601.74189034251, + 769.1454013123666, + -9.618529448067818 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -604.3399665538634, + 770.6454013123666, + -9.618529448067818 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -606.9380427652168, + 772.1454013123666, + -9.618529448067818 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -609.5361189765702, + 773.6454013123666, + -9.618529448067818 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -612.1341951879235, + 775.1454013123666, + -9.618529448067818 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -614.7322713992769, + 776.6454013123666, + -9.618529448067818 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -617.3303476106303, + 778.1454013123666, + -9.618529448067818 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -619.9284238219836, + 779.6454013123666, + -9.618529448067818 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -622.526500033337, + 781.1454013123666, + -9.618529448067818 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -625.1245762446904, + 782.6454013123666, + -9.618529448067818 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -627.7226524560438, + 784.1454013123666, + -9.618529448067818 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -630.3207286673971, + 785.6454013123666, + -9.618529448067818 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -632.9188048787505, + 787.1454013123666, + -9.618529448067818 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -632.9188048787505, + 787.1454013123666, + -9.618529448067818 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -634.4188048787505, + 789.74347752372, + -9.618529448067818 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + }, + "objects": [] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_18-20-26_1432114613/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_18-20-26_1432114613/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a8aadafc19fc1d6f9fcce7fa9e13ffc54dd4883b --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_18-20-26_1432114613/pose.jsonl @@ -0,0 +1,977 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 86.18708202071392, + 36.83971572327873, + -29.129514253229413 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + 87.68708202071392, + 39.437791934632045, + -29.129514253229413 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + 89.18708202071392, + 42.03586814598536, + -29.129514253229413 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + 90.68708202071392, + 44.63394435733868, + -29.129514253229413 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + 92.18708202071392, + 47.23202056869199, + -29.129514253229413 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + 93.68708202071392, + 49.83009678004531, + -29.129514253229413 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + 95.18708202071392, + 52.428172991398625, + -29.129514253229413 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + 96.68708202071392, + 55.02624920275194, + -29.129514253229413 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + 98.18708202071392, + 57.62432541410526, + -29.129514253229413 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + 99.68708202071392, + 60.22240162545857, + -29.129514253229413 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + 101.18708202071392, + 62.82047783681189, + -29.129514253229413 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + 102.68708202071392, + 65.4185540481652, + -29.129514253229413 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + 104.18708202071392, + 68.01663025951852, + -29.129514253229413 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + 105.68708202071392, + 70.61470647087184, + -29.129514253229413 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + 107.18708202071392, + 73.21278268222515, + -29.129514253229413 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + 108.68708202071392, + 75.81085889357847, + -29.129514253229413 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + 110.18708202071392, + 78.40893510493179, + -29.129514253229413 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + 111.68708202071392, + 81.0070113162851, + -29.129514253229413 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + 113.18708202071392, + 83.60508752763842, + -29.129514253229413 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + 114.68708202071392, + 86.20316373899173, + -29.129514253229413 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + 116.18708202071392, + 88.80123995034505, + -29.129514253229413 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + 117.68708202071392, + 91.39931616169837, + -29.129514253229413 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + 119.18708202071392, + 93.99739237305168, + -29.129514253229413 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + 120.68708202071392, + 96.595468584405, + -29.129514253229413 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + 122.18708202071392, + 99.19354479575831, + -29.129514253229413 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + 123.68708202071392, + 101.79162100711163, + -29.129514253229413 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + 125.18708202071392, + 104.38969721846495, + -29.129514253229413 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + 126.68708202071392, + 106.98777342981826, + -29.129514253229413 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + 128.18708202071392, + 109.58584964117158, + -29.129514253229413 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + 129.68708202071392, + 112.1839258525249, + -29.129514253229413 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + 131.18708202071392, + 114.78200206387821, + -29.129514253229413 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + 132.68708202071392, + 117.38007827523153, + -29.129514253229413 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + 134.18708202071392, + 119.97815448658484, + -29.129514253229413 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [] +} +{ + "action": { + "imageid": 33, + "pos": [ + 135.68708202071392, + 122.57623069793816, + -29.129514253229413 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + }, + "objects": [] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_18-24-9_680466996/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_18-24-9_680466996/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ac00b93e2105bd1ddec6114ad8f628f7759a2f4c --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_18-24-9_680466996/pose.jsonl @@ -0,0 +1,1034 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -284.6485903613691, + 215.85095155463088, + -15.179567933880605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [] +} +{ + "action": { + "imageid": 1, + "pos": [ + -281.6485903613691, + 215.85095155463088, + -15.179567933880605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -278.6485903613691, + 215.85095155463088, + -15.179567933880605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -275.6485903613691, + 215.85095155463088, + -15.179567933880605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -272.6485903613691, + 215.85095155463088, + -15.179567933880605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -269.6485903613691, + 215.85095155463088, + -15.179567933880605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -266.6485903613691, + 215.85095155463088, + -15.179567933880605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -263.6485903613691, + 215.85095155463088, + -15.179567933880605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -260.6485903613691, + 215.85095155463088, + -15.179567933880605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -257.6485903613691, + 215.85095155463088, + -15.179567933880605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -254.6485903613691, + 215.85095155463088, + -15.179567933880605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -251.6485903613691, + 215.85095155463088, + -15.179567933880605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -248.6485903613691, + 215.85095155463088, + -15.179567933880605 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -248.6485903613691, + 215.85095155463088, + -15.179567933880605 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -246.05051415001577, + 214.35095155463088, + -15.179567933880605 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -243.45243793866246, + 212.85095155463088, + -15.179567933880605 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -240.85436172730914, + 211.35095155463088, + -15.179567933880605 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -238.25628551595582, + 209.85095155463088, + -15.179567933880605 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -235.6582093046025, + 208.35095155463088, + -15.179567933880605 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -233.0601330932492, + 206.85095155463088, + -15.179567933880605 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -230.46205688189588, + 205.35095155463088, + -15.179567933880605 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -227.86398067054256, + 203.85095155463088, + -15.179567933880605 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -225.26590445918924, + 202.35095155463088, + -15.179567933880605 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -222.66782824783593, + 200.85095155463088, + -15.179567933880605 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -220.0697520364826, + 199.35095155463088, + -15.179567933880605 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -217.4716758251293, + 197.85095155463088, + -15.179567933880605 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -214.87359961377598, + 196.35095155463088, + -15.179567933880605 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -212.27552340242266, + 194.85095155463088, + -15.179567933880605 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -209.67744719106935, + 193.35095155463088, + -15.179567933880605 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -207.07937097971603, + 191.85095155463088, + -15.179567933880605 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -204.48129476836272, + 190.35095155463088, + -15.179567933880605 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -201.8832185570094, + 188.85095155463088, + -15.179567933880605 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -199.28514234565608, + 187.35095155463088, + -15.179567933880605 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -196.68706613430277, + 185.85095155463088, + -15.179567933880605 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -194.08898992294945, + 184.35095155463088, + -15.179567933880605 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -191.49091371159614, + 182.85095155463088, + -15.179567933880605 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_18-29-55_722308542/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_18-29-55_722308542/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f73b9c47c40caf8021b69b398977d5a76e5b0014 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_18-29-55_722308542/pose.jsonl @@ -0,0 +1,1976 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -510.64356235467545, + 652.4808012973497, + -19.544060045349973 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -507.64356235467545, + 652.4808012973497, + -19.544060045349973 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -504.64356235467545, + 652.4808012973497, + -19.544060045349973 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -501.64356235467545, + 652.4808012973497, + -19.544060045349973 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -498.64356235467545, + 652.4808012973497, + -19.544060045349973 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -495.64356235467545, + 652.4808012973497, + -19.544060045349973 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -492.64356235467545, + 652.4808012973497, + -19.544060045349973 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -489.64356235467545, + 652.4808012973497, + -19.544060045349973 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -486.64356235467545, + 652.4808012973497, + -19.544060045349973 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -483.64356235467545, + 652.4808012973497, + -19.544060045349973 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -480.64356235467545, + 652.4808012973497, + -19.544060045349973 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -477.64356235467545, + 652.4808012973497, + -19.544060045349973 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -474.64356235467545, + 652.4808012973497, + -19.544060045349973 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -474.64356235467545, + 652.4808012973497, + -19.544060045349973 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -472.04548614332214, + 650.9808012973497, + -19.544060045349973 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -469.4474099319688, + 649.4808012973497, + -19.544060045349973 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -466.8493337206155, + 647.9808012973497, + -19.544060045349973 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -464.2512575092622, + 646.4808012973497, + -19.544060045349973 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -461.6531812979089, + 644.9808012973497, + -19.544060045349973 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -459.05510508655556, + 643.4808012973497, + -19.544060045349973 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -456.45702887520224, + 641.9808012973497, + -19.544060045349973 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -453.8589526638489, + 640.4808012973497, + -19.544060045349973 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -451.2608764524956, + 638.9808012973497, + -19.544060045349973 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -448.6628002411423, + 637.4808012973497, + -19.544060045349973 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -446.064724029789, + 635.9808012973497, + -19.544060045349973 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -443.46664781843566, + 634.4808012973497, + -19.544060045349973 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -440.86857160708234, + 632.9808012973497, + -19.544060045349973 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -438.27049539572903, + 631.4808012973497, + -19.544060045349973 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -435.6724191843757, + 629.9808012973497, + -19.544060045349973 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -433.0743429730224, + 628.4808012973497, + -19.544060045349973 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -430.4762667616691, + 626.9808012973497, + -19.544060045349973 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -427.87819055031576, + 625.4808012973497, + -19.544060045349973 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -425.28011433896245, + 623.9808012973497, + -19.544060045349973 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -422.68203812760913, + 622.4808012973497, + -19.544060045349973 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -420.0839619162558, + 620.9808012973497, + -19.544060045349973 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -417.4858857049025, + 619.4808012973497, + -19.544060045349973 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -414.8878094935492, + 617.9808012973497, + -19.544060045349973 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -412.28973328219587, + 616.4808012973497, + -19.544060045349973 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -409.69165707084255, + 614.9808012973497, + -19.544060045349973 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + }, + "objects": [] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_18-31-25_740759355/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_18-31-25_740759355/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5761e7fd85c02434ceffe6da2f39259d5506af86 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_18-31-25_740759355/pose.jsonl @@ -0,0 +1,1298 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -767.7372192273328, + 200.70238980529817, + -10.977606258638357 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -764.7372192273328, + 200.70238980529817, + -10.977606258638357 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -761.7372192273328, + 200.70238980529817, + -10.977606258638357 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -758.7372192273328, + 200.70238980529817, + -10.977606258638357 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -755.7372192273328, + 200.70238980529817, + -10.977606258638357 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -755.7372192273328, + 200.70238980529817, + -10.977606258638357 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -753.1391430159795, + 199.20238980529817, + -10.977606258638357 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -750.5410668046261, + 197.70238980529817, + -10.977606258638357 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -747.9429905932727, + 196.20238980529817, + -10.977606258638357 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -745.3449143819194, + 194.70238980529817, + -10.977606258638357 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -742.746838170566, + 193.20238980529817, + -10.977606258638357 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -740.1487619592126, + 191.70238980529817, + -10.977606258638357 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -737.5506857478592, + 190.20238980529817, + -10.977606258638357 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -734.9526095365059, + 188.70238980529817, + -10.977606258638357 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -732.3545333251525, + 187.20238980529817, + -10.977606258638357 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -729.7564571137991, + 185.70238980529817, + -10.977606258638357 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -727.1583809024457, + 184.20238980529817, + -10.977606258638357 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -724.5603046910924, + 182.70238980529817, + -10.977606258638357 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -721.962228479739, + 181.20238980529817, + -10.977606258638357 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -719.3641522683856, + 179.70238980529817, + -10.977606258638357 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -716.7660760570323, + 178.20238980529817, + -10.977606258638357 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -714.1679998456789, + 176.70238980529817, + -10.977606258638357 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -711.5699236343255, + 175.20238980529817, + -10.977606258638357 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -708.9718474229721, + 173.70238980529817, + -10.977606258638357 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -706.3737712116188, + 172.20238980529817, + -10.977606258638357 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -703.7756950002654, + 170.70238980529817, + -10.977606258638357 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -701.177618788912, + 169.20238980529817, + -10.977606258638357 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -698.5795425775586, + 167.70238980529817, + -10.977606258638357 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -698.5795425775586, + 167.70238980529817, + -10.977606258638357 + ], + "type": "go straight", + "value": 3, + "yaw": 9.43689570931383e-15 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -695.5795425775586, + 167.70238980529817, + -10.977606258638357 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -692.5795425775586, + 167.70238980529817, + -10.977606258638357 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_18-33-28_1034949299/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_18-33-28_1034949299/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8605e7824dbac50fc14d85b69227a4473e5c9062 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_18-33-28_1034949299/pose.jsonl @@ -0,0 +1,1994 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -621.3051836009341, + 678.9855393250297, + -1.7261697166513805 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -618.3051836009341, + 678.9855393250297, + -1.7261697166513805 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -615.3051836009341, + 678.9855393250297, + -1.7261697166513805 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -612.3051836009341, + 678.9855393250297, + -1.7261697166513805 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -609.3051836009341, + 678.9855393250297, + -1.7261697166513805 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -606.3051836009341, + 678.9855393250297, + -1.7261697166513805 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -603.3051836009341, + 678.9855393250297, + -1.7261697166513805 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -600.3051836009341, + 678.9855393250297, + -1.7261697166513805 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -597.3051836009341, + 678.9855393250297, + -1.7261697166513805 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -594.3051836009341, + 678.9855393250297, + -1.7261697166513805 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -591.3051836009341, + 678.9855393250297, + -1.7261697166513805 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -588.3051836009341, + 678.9855393250297, + -1.7261697166513805 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -585.3051836009341, + 678.9855393250297, + -1.7261697166513805 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -582.3051836009341, + 678.9855393250297, + -1.7261697166513805 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -579.3051836009341, + 678.9855393250297, + -1.7261697166513805 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -576.3051836009341, + 678.9855393250297, + -1.7261697166513805 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -573.3051836009341, + 678.9855393250297, + -1.7261697166513805 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -570.3051836009341, + 678.9855393250297, + -1.7261697166513805 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -567.3051836009341, + 678.9855393250297, + -1.7261697166513805 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -564.3051836009341, + 678.9855393250297, + -1.7261697166513805 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -561.3051836009341, + 678.9855393250297, + -1.7261697166513805 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -558.3051836009341, + 678.9855393250297, + -1.7261697166513805 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -555.3051836009341, + 678.9855393250297, + -1.7261697166513805 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -552.3051836009341, + 678.9855393250297, + -1.7261697166513805 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -549.3051836009341, + 678.9855393250297, + -1.7261697166513805 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -546.3051836009341, + 678.9855393250297, + -1.7261697166513805 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -543.3051836009341, + 678.9855393250297, + -1.7261697166513805 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -540.3051836009341, + 678.9855393250297, + -1.7261697166513805 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -537.3051836009341, + 678.9855393250297, + -1.7261697166513805 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -534.3051836009341, + 678.9855393250297, + -1.7261697166513805 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -531.3051836009341, + 678.9855393250297, + -1.7261697166513805 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -531.3051836009341, + 678.9855393250297, + -1.7261697166513805 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -528.7071073895809, + 677.4855393250297, + -1.7261697166513805 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -526.1090311782275, + 675.9855393250297, + -1.7261697166513805 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -523.5109549668741, + 674.4855393250297, + -1.7261697166513805 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -520.9128787555208, + 672.9855393250297, + -1.7261697166513805 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -518.3148025441674, + 671.4855393250297, + -1.7261697166513805 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -515.716726332814, + 669.9855393250297, + -1.7261697166513805 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -513.1186501214606, + 668.4855393250297, + -1.7261697166513805 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 39, + "pos": [ + -510.5205739101073, + 666.9855393250297, + -1.7261697166513805 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 40, + "pos": [ + -507.922497698754, + 665.4855393250297, + -1.7261697166513805 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_18-39-1_1590079444/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_18-39-1_1590079444/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a1a06ff58d0d6ec939d5ad8cb9f3797c79d85288 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_18-39-1_1590079444/pose.jsonl @@ -0,0 +1,1231 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -61.88598132894731, + 247.81228938673345, + -19.81546781843975 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [] +} +{ + "action": { + "imageid": 1, + "pos": [ + -59.28790511759399, + 246.31228938673345, + -19.81546781843975 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [] +} +{ + "action": { + "imageid": 2, + "pos": [ + -56.68982890624068, + 244.81228938673345, + -19.81546781843975 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [] +} +{ + "action": { + "imageid": 3, + "pos": [ + -54.09175269488736, + 243.31228938673345, + -19.81546781843975 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [] +} +{ + "action": { + "imageid": 4, + "pos": [ + -51.493676483534045, + 241.81228938673345, + -19.81546781843975 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [] +} +{ + "action": { + "imageid": 5, + "pos": [ + -48.89560027218073, + 240.31228938673345, + -19.81546781843975 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -46.29752406082741, + 238.81228938673345, + -19.81546781843975 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -43.6994478494741, + 237.31228938673345, + -19.81546781843975 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -41.10137163812078, + 235.81228938673345, + -19.81546781843975 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -38.503295426767465, + 234.31228938673345, + -19.81546781843975 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -35.90521921541415, + 232.81228938673345, + -19.81546781843975 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -33.30714300406083, + 231.31228938673345, + -19.81546781843975 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -30.709066792707517, + 229.81228938673345, + -19.81546781843975 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -28.1109905813542, + 228.31228938673345, + -19.81546781843975 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -25.512914370000885, + 226.81228938673345, + -19.81546781843975 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -22.91483815864757, + 225.31228938673345, + -19.81546781843975 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -20.316761947294253, + 223.81228938673345, + -19.81546781843975 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -17.718685735940937, + 222.31228938673345, + -19.81546781843975 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -15.120609524587621, + 220.81228938673345, + -19.81546781843975 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -12.522533313234305, + 219.31228938673345, + -19.81546781843975 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -9.92445710188099, + 217.81228938673345, + -19.81546781843975 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -7.326380890527673, + 216.31228938673345, + -19.81546781843975 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -4.728304679174357, + 214.81228938673345, + -19.81546781843975 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -2.1302284678210412, + 213.31228938673345, + -19.81546781843975 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + 0.46784774353227476, + 211.81228938673345, + -19.81546781843975 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + 3.0659239548855908, + 210.31228938673345, + -19.81546781843975 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + 5.664000166238907, + 208.81228938673345, + -19.81546781843975 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + 8.262076377592223, + 207.31228938673345, + -19.81546781843975 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + 10.860152588945539, + 205.81228938673345, + -19.81546781843975 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + 13.458228800298855, + 204.31228938673345, + -19.81546781843975 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + 16.05630501165217, + 202.81228938673345, + -19.81546781843975 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + 18.654381223005487, + 201.31228938673345, + -19.81546781843975 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + 21.252457434358803, + 199.81228938673345, + -19.81546781843975 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + 23.85053364571212, + 198.31228938673345, + -19.81546781843975 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + 26.448609857065435, + 196.81228938673345, + -19.81546781843975 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + 29.04668606841875, + 195.31228938673345, + -19.81546781843975 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + 31.644762279772067, + 193.81228938673345, + -19.81546781843975 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + 34.24283849112538, + 192.31228938673345, + -19.81546781843975 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + 36.8409147024787, + 190.81228938673345, + -19.81546781843975 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_18-42-0_1884167637/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_18-42-0_1884167637/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..015b980c0ac8c94206c2e2fb71afa28c168dd96a --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_18-42-0_1884167637/pose.jsonl @@ -0,0 +1,742 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 16.643283451965758, + 159.42522819625938, + -11.87417114671539 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 1, + "pos": [ + 14.045207240612442, + 160.92522819625938, + -11.87417114671539 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 2, + "pos": [ + 11.447131029259126, + 162.42522819625938, + -11.87417114671539 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 3, + "pos": [ + 8.84905481790581, + 163.92522819625938, + -11.87417114671539 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 4, + "pos": [ + 6.2509786065524935, + 165.42522819625938, + -11.87417114671539 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 5, + "pos": [ + 3.6529023951991775, + 166.92522819625938, + -11.87417114671539 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 6, + "pos": [ + 1.0548261838458615, + 168.42522819625938, + -11.87417114671539 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -1.5432500275074545, + 169.92522819625938, + -11.87417114671539 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -4.141326238860771, + 171.42522819625938, + -11.87417114671539 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -6.739402450214087, + 172.92522819625938, + -11.87417114671539 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -9.337478661567403, + 174.42522819625938, + -11.87417114671539 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -11.935554872920719, + 175.92522819625938, + -11.87417114671539 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -14.533631084274035, + 177.42522819625938, + -11.87417114671539 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -17.13170729562735, + 178.92522819625938, + -11.87417114671539 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -19.729783506980667, + 180.42522819625938, + -11.87417114671539 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -22.327859718333983, + 181.92522819625938, + -11.87417114671539 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -24.9259359296873, + 183.42522819625938, + -11.87417114671539 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -27.524012141040615, + 184.92522819625938, + -11.87417114671539 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -30.12208835239393, + 186.42522819625938, + -11.87417114671539 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 19, + "pos": [ + -32.72016456374725, + 187.92522819625938, + -11.87417114671539 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 20, + "pos": [ + -35.31824077510056, + 189.42522819625938, + -11.87417114671539 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 21, + "pos": [ + -35.31824077510056, + 189.42522819625938, + -11.87417114671539 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 22, + "pos": [ + -38.31824077510056, + 189.42522819625938, + -11.87417114671539 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 23, + "pos": [ + -41.31824077510056, + 189.42522819625938, + -11.87417114671539 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 24, + "pos": [ + -44.31824077510056, + 189.42522819625938, + -11.87417114671539 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 25, + "pos": [ + -47.31824077510056, + 189.42522819625938, + -11.87417114671539 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 26, + "pos": [ + -50.31824077510056, + 189.42522819625938, + -11.87417114671539 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 27, + "pos": [ + -53.31824077510056, + 189.42522819625938, + -11.87417114671539 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 28, + "pos": [ + -56.31824077510056, + 189.42522819625938, + -11.87417114671539 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 29, + "pos": [ + -59.31824077510056, + 189.42522819625938, + -11.87417114671539 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 30, + "pos": [ + -62.31824077510056, + 189.42522819625938, + -11.87417114671539 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 31, + "pos": [ + -65.31824077510056, + 189.42522819625938, + -11.87417114671539 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 32, + "pos": [ + -68.31824077510056, + 189.42522819625938, + -11.87417114671539 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 33, + "pos": [ + -71.31824077510056, + 189.42522819625938, + -11.87417114671539 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 34, + "pos": [ + -74.31824077510056, + 189.42522819625938, + -11.87417114671539 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 35, + "pos": [ + -77.31824077510056, + 189.42522819625938, + -11.87417114671539 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 36, + "pos": [ + -80.31824077510056, + 189.42522819625938, + -11.87417114671539 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 37, + "pos": [ + -83.31824077510056, + 189.42522819625938, + -11.87417114671539 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 38, + "pos": [ + -86.31824077510056, + 189.42522819625938, + -11.87417114671539 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 39, + "pos": [ + -89.31824077510056, + 189.42522819625938, + -11.87417114671539 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_18-47-50_404158660/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_18-47-50_404158660/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..db037d493021ab5bcdb7c856f5c7d05afbda4627 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_18-47-50_404158660/pose.jsonl @@ -0,0 +1,1429 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -620.7214848956401, + 71.6418442503821, + -6.767176791640175 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -620.7214848956401, + 74.6418442503821, + -6.767176791640175 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -620.7214848956401, + 77.6418442503821, + -6.767176791640175 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -620.7214848956401, + 80.6418442503821, + -6.767176791640175 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -620.7214848956401, + 83.6418442503821, + -6.767176791640175 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -620.7214848956401, + 86.6418442503821, + -6.767176791640175 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -620.7214848956401, + 89.6418442503821, + -6.767176791640175 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -620.7214848956401, + 92.6418442503821, + -6.767176791640175 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -620.7214848956401, + 95.6418442503821, + -6.767176791640175 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -620.7214848956401, + 98.6418442503821, + -6.767176791640175 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -620.7214848956401, + 101.6418442503821, + -6.767176791640175 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -620.7214848956401, + 104.6418442503821, + -6.767176791640175 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -620.7214848956401, + 107.6418442503821, + -6.767176791640175 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -620.7214848956401, + 110.6418442503821, + -6.767176791640175 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -620.7214848956401, + 113.6418442503821, + -6.767176791640175 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -620.7214848956401, + 116.6418442503821, + -6.767176791640175 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -620.7214848956401, + 119.6418442503821, + -6.767176791640175 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -620.7214848956401, + 122.6418442503821, + -6.767176791640175 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -620.7214848956401, + 125.6418442503821, + -6.767176791640175 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -620.7214848956401, + 128.64184425038212, + -6.767176791640175 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -620.7214848956401, + 131.64184425038212, + -6.767176791640175 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -620.7214848956401, + 134.64184425038212, + -6.767176791640175 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -620.7214848956401, + 137.64184425038212, + -6.767176791640175 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -620.7214848956401, + 140.64184425038212, + -6.767176791640175 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -620.7214848956401, + 143.64184425038212, + -6.767176791640175 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -620.7214848956401, + 143.64184425038212, + -6.767176791640175 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -620.7214848956401, + 143.64184425038212, + -6.767176791640175 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -623.3195611069934, + 145.14184425038212, + -6.767176791640175 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -625.9176373183468, + 146.64184425038212, + -6.767176791640175 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -628.5157135297002, + 148.14184425038212, + -6.767176791640175 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -631.1137897410536, + 149.64184425038212, + -6.767176791640175 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -633.7118659524069, + 151.14184425038212, + -6.767176791640175 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -633.7118659524069, + 151.14184425038212, + -6.767176791640175 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -635.2118659524069, + 153.73992046173544, + -6.767176791640175 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -636.7118659524069, + 156.33799667308875, + -6.767176791640175 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -638.2118659524069, + 158.93607288444207, + -6.767176791640175 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -639.7118659524069, + 161.53414909579539, + -6.767176791640175 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -641.2118659524069, + 164.1322253071487, + -6.767176791640175 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_18-49-53_260152959/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_18-49-53_260152959/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3d8a583320fd705bc751a36bfa75895550d8e091 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_18-49-53_260152959/pose.jsonl @@ -0,0 +1,1564 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -565.084184789071, + 402.7562952599825, + -27.177239320524205 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -563.584184789071, + 405.3543714713358, + -27.177239320524205 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -562.084184789071, + 407.9524476826891, + -27.177239320524205 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -560.584184789071, + 410.55052389404244, + -27.177239320524205 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -559.084184789071, + 413.14860010539576, + -27.177239320524205 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -557.584184789071, + 415.7466763167491, + -27.177239320524205 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -556.084184789071, + 418.3447525281024, + -27.177239320524205 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -554.584184789071, + 420.9428287394557, + -27.177239320524205 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -553.084184789071, + 423.540904950809, + -27.177239320524205 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -551.584184789071, + 426.13898116216234, + -27.177239320524205 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -550.084184789071, + 428.73705737351565, + -27.177239320524205 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -548.584184789071, + 431.33513358486897, + -27.177239320524205 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -547.084184789071, + 433.9332097962223, + -27.177239320524205 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -545.584184789071, + 436.5312860075756, + -27.177239320524205 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -544.084184789071, + 439.1293622189289, + -27.177239320524205 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -542.584184789071, + 441.72743843028223, + -27.177239320524205 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -541.084184789071, + 444.32551464163555, + -27.177239320524205 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -539.584184789071, + 446.92359085298887, + -27.177239320524205 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -538.084184789071, + 449.5216670643422, + -27.177239320524205 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -536.584184789071, + 452.1197432756955, + -27.177239320524205 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -535.084184789071, + 454.7178194870488, + -27.177239320524205 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -533.584184789071, + 457.31589569840213, + -27.177239320524205 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -532.084184789071, + 459.91397190975545, + -27.177239320524205 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -530.584184789071, + 462.51204812110876, + -27.177239320524205 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -529.084184789071, + 465.1101243324621, + -27.177239320524205 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -527.584184789071, + 467.7082005438154, + -27.177239320524205 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -526.084184789071, + 470.3062767551687, + -27.177239320524205 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -524.584184789071, + 472.904352966522, + -27.177239320524205 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -523.084184789071, + 475.50242917787534, + -27.177239320524205 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -521.584184789071, + 478.10050538922866, + -27.177239320524205 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -520.084184789071, + 480.698581600582, + -27.177239320524205 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -518.584184789071, + 483.2966578119353, + -27.177239320524205 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -517.084184789071, + 485.8947340232886, + -27.177239320524205 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -515.584184789071, + 488.4928102346419, + -27.177239320524205 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_18-52-33_1704365084/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_18-52-33_1704365084/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c50b08312d273d57587e03d5cfbf0443f0875520 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_18-52-33_1704365084/pose.jsonl @@ -0,0 +1,1540 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -761.3297706796227, + 464.9797023757752, + -14.445433592421939 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -758.3297706796227, + 464.9797023757752, + -14.445433592421939 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -755.3297706796227, + 464.9797023757752, + -14.445433592421939 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -752.3297706796227, + 464.9797023757752, + -14.445433592421939 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -749.3297706796227, + 464.9797023757752, + -14.445433592421939 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -746.3297706796227, + 464.9797023757752, + -14.445433592421939 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -746.3297706796227, + 464.9797023757752, + -14.445433592421939 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -746.3297706796227, + 464.9797023757752, + -14.445433592421939 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -744.8297706796227, + 467.57777858712853, + -14.445433592421939 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -743.3297706796227, + 470.17585479848185, + -14.445433592421939 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -741.8297706796227, + 472.77393100983517, + -14.445433592421939 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -741.8297706796227, + 472.77393100983517, + -14.445433592421939 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -739.2316944682693, + 474.27393100983517, + -14.445433592421939 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -736.633618256916, + 475.77393100983517, + -14.445433592421939 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -734.0355420455626, + 477.27393100983517, + -14.445433592421939 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -731.4374658342092, + 478.77393100983517, + -14.445433592421939 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -728.8393896228558, + 480.27393100983517, + -14.445433592421939 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -726.2413134115025, + 481.77393100983517, + -14.445433592421939 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -723.6432372001491, + 483.27393100983517, + -14.445433592421939 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -721.0451609887957, + 484.77393100983517, + -14.445433592421939 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -718.4470847774423, + 486.27393100983517, + -14.445433592421939 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -715.849008566089, + 487.77393100983517, + -14.445433592421939 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -713.2509323547356, + 489.27393100983517, + -14.445433592421939 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -710.6528561433822, + 490.77393100983517, + -14.445433592421939 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -708.0547799320289, + 492.27393100983517, + -14.445433592421939 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -705.4567037206755, + 493.77393100983517, + -14.445433592421939 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -702.8586275093221, + 495.27393100983517, + -14.445433592421939 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -700.2605512979687, + 496.77393100983517, + -14.445433592421939 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -697.6624750866154, + 498.27393100983517, + -14.445433592421939 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -695.064398875262, + 499.77393100983517, + -14.445433592421939 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -692.4663226639086, + 501.27393100983517, + -14.445433592421939 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -689.8682464525552, + 502.77393100983517, + -14.445433592421939 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -687.2701702412019, + 504.27393100983517, + -14.445433592421939 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -684.6720940298485, + 505.77393100983517, + -14.445433592421939 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -682.0740178184951, + 507.27393100983517, + -14.445433592421939 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_18-8-23_116087764/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_18-8-23_116087764/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d819e0ec78d5446c28496a39127cf17c0f9e528f --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_18-8-23_116087764/pose.jsonl @@ -0,0 +1,1185 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -187.11035811226202, + 588.9493789894054, + -1.6430633553955403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [] +} +{ + "action": { + "imageid": 1, + "pos": [ + -184.11035811226202, + 588.9493789894054, + -1.6430633553955403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -181.11035811226202, + 588.9493789894054, + -1.6430633553955403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -178.11035811226202, + 588.9493789894054, + -1.6430633553955403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -175.11035811226202, + 588.9493789894054, + -1.6430633553955403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -172.11035811226202, + 588.9493789894054, + -1.6430633553955403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -169.11035811226202, + 588.9493789894054, + -1.6430633553955403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -166.11035811226202, + 588.9493789894054, + -1.6430633553955403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -163.11035811226202, + 588.9493789894054, + -1.6430633553955403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -160.11035811226202, + 588.9493789894054, + -1.6430633553955403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -157.11035811226202, + 588.9493789894054, + -1.6430633553955403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -154.11035811226202, + 588.9493789894054, + -1.6430633553955403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -151.11035811226202, + 588.9493789894054, + -1.6430633553955403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -148.11035811226202, + 588.9493789894054, + -1.6430633553955403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -145.11035811226202, + 588.9493789894054, + -1.6430633553955403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -142.11035811226202, + 588.9493789894054, + -1.6430633553955403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -139.11035811226202, + 588.9493789894054, + -1.6430633553955403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -136.11035811226202, + 588.9493789894054, + -1.6430633553955403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -133.11035811226202, + 588.9493789894054, + -1.6430633553955403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -130.11035811226202, + 588.9493789894054, + -1.6430633553955403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -127.11035811226202, + 588.9493789894054, + -1.6430633553955403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -124.11035811226202, + 588.9493789894054, + -1.6430633553955403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -121.11035811226202, + 588.9493789894054, + -1.6430633553955403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -118.11035811226202, + 588.9493789894054, + -1.6430633553955403 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -118.11035811226202, + 588.9493789894054, + -1.6430633553955403 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -118.11035811226202, + 588.9493789894054, + -1.6430633553955403 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -116.61035811226202, + 586.3513027780521, + -1.6430633553955403 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -115.11035811226202, + 583.7532265666987, + -1.6430633553955403 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -113.61035811226202, + 581.1551503553453, + -1.6430633553955403 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -113.61035811226202, + 581.1551503553453, + -1.6430633553955403 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -111.0122819009087, + 579.6551503553453, + -1.6430633553955403 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -108.41420568955539, + 578.1551503553453, + -1.6430633553955403 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -105.81612947820207, + 576.6551503553453, + -1.6430633553955403 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -103.21805326684876, + 575.1551503553453, + -1.6430633553955403 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -100.61997705549544, + 573.6551503553453, + -1.6430633553955403 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -98.02190084414212, + 572.1551503553453, + -1.6430633553955403 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -95.42382463278881, + 570.6551503553453, + -1.6430633553955403 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -92.82574842143549, + 569.1551503553453, + -1.6430633553955403 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -90.22767221008218, + 567.6551503553453, + -1.6430633553955403 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 39, + "pos": [ + -87.62959599872886, + 566.1551503553453, + -1.6430633553955403 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_19-11-51_337739299/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_19-11-51_337739299/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..882f6d78f5881fafe880c319cfd7731b0c050005 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_19-11-51_337739299/pose.jsonl @@ -0,0 +1,1574 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -578.5030908470628, + 331.8931636543966, + -17.96619803364205 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -577.0030908470628, + 334.4912398657499, + -17.96619803364205 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -575.5030908470628, + 337.0893160771032, + -17.96619803364205 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -574.0030908470628, + 339.6873922884565, + -17.96619803364205 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -572.5030908470628, + 342.28546849980984, + -17.96619803364205 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -571.0030908470628, + 344.88354471116315, + -17.96619803364205 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -569.5030908470628, + 347.48162092251647, + -17.96619803364205 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -568.0030908470628, + 350.0796971338698, + -17.96619803364205 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -566.5030908470628, + 352.6777733452231, + -17.96619803364205 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -565.0030908470628, + 355.2758495565764, + -17.96619803364205 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -563.5030908470628, + 357.87392576792973, + -17.96619803364205 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -562.0030908470628, + 360.47200197928305, + -17.96619803364205 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -560.5030908470628, + 363.07007819063637, + -17.96619803364205 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -559.0030908470628, + 365.6681544019897, + -17.96619803364205 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -557.5030908470628, + 368.266230613343, + -17.96619803364205 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -556.0030908470628, + 370.8643068246963, + -17.96619803364205 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -554.5030908470628, + 373.46238303604963, + -17.96619803364205 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -553.0030908470628, + 376.06045924740295, + -17.96619803364205 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -551.5030908470628, + 378.65853545875626, + -17.96619803364205 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -550.0030908470628, + 381.2566116701096, + -17.96619803364205 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -548.5030908470628, + 383.8546878814629, + -17.96619803364205 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -547.0030908470628, + 386.4527640928162, + -17.96619803364205 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -545.5030908470628, + 389.0508403041695, + -17.96619803364205 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -544.0030908470628, + 391.64891651552284, + -17.96619803364205 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -542.5030908470628, + 394.24699272687616, + -17.96619803364205 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -541.0030908470628, + 396.8450689382295, + -17.96619803364205 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -541.0030908470628, + 396.8450689382295, + -17.96619803364205 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -538.4050146357094, + 398.3450689382295, + -17.96619803364205 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -535.8069384243561, + 399.8450689382295, + -17.96619803364205 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -533.2088622130027, + 401.3450689382295, + -17.96619803364205 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -530.6107860016493, + 402.8450689382295, + -17.96619803364205 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -528.012709790296, + 404.3450689382295, + -17.96619803364205 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -525.4146335789426, + 405.8450689382295, + -17.96619803364205 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -522.8165573675892, + 407.3450689382295, + -17.96619803364205 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -520.2184811562358, + 408.8450689382295, + -17.96619803364205 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -517.6204049448825, + 410.3450689382295, + -17.96619803364205 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -515.0223287335291, + 411.8450689382295, + -17.96619803364205 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -512.4242525221757, + 413.3450689382295, + -17.96619803364205 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -509.8261763108224, + 414.8450689382295, + -17.96619803364205 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_19-14-39_846942590/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_19-14-39_846942590/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3f72ce77310aa52c35da93d697f4511331be5d9c --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_19-14-39_846942590/pose.jsonl @@ -0,0 +1,1374 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -328.81092990965675, + 727.8240169963931, + -6.028140445923597 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -327.31092990965675, + 725.2259407850397, + -6.028140445923597 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -325.81092990965675, + 722.6278645736863, + -6.028140445923597 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -324.31092990965675, + 720.029788362333, + -6.028140445923597 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -322.81092990965675, + 717.4317121509796, + -6.028140445923597 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -321.31092990965675, + 714.8336359396262, + -6.028140445923597 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -319.81092990965675, + 712.2355597282728, + -6.028140445923597 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -318.31092990965675, + 709.6374835169195, + -6.028140445923597 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -316.81092990965675, + 707.0394073055661, + -6.028140445923597 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -315.31092990965675, + 704.4413310942127, + -6.028140445923597 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -313.81092990965675, + 701.8432548828594, + -6.028140445923597 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -312.31092990965675, + 699.245178671506, + -6.028140445923597 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -310.81092990965675, + 696.6471024601526, + -6.028140445923597 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -309.31092990965675, + 694.0490262487992, + -6.028140445923597 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -307.81092990965675, + 691.4509500374459, + -6.028140445923597 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -306.31092990965675, + 688.8528738260925, + -6.028140445923597 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -304.81092990965675, + 686.2547976147391, + -6.028140445923597 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -303.31092990965675, + 683.6567214033857, + -6.028140445923597 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -301.81092990965675, + 681.0586451920324, + -6.028140445923597 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -300.31092990965675, + 678.460568980679, + -6.028140445923597 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -298.81092990965675, + 675.8624927693256, + -6.028140445923597 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -297.31092990965675, + 673.2644165579723, + -6.028140445923597 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -295.81092990965675, + 670.6663403466189, + -6.028140445923597 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -294.31092990965675, + 668.0682641352655, + -6.028140445923597 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -292.81092990965675, + 665.4701879239121, + -6.028140445923597 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -292.81092990965675, + 665.4701879239121, + -6.028140445923597 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -290.21285369830343, + 663.9701879239121, + -6.028140445923597 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -287.6147774869501, + 662.4701879239121, + -6.028140445923597 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -285.0167012755968, + 660.9701879239121, + -6.028140445923597 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -282.4186250642435, + 659.4701879239121, + -6.028140445923597 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_19-17-35_882160379/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_19-17-35_882160379/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f03d41e19377320dc1b320027d191f99389f0324 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_19-17-35_882160379/pose.jsonl @@ -0,0 +1,1036 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -165.17721622685065, + 111.17769495278746, + -24.26226398929532 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [] +} +{ + "action": { + "imageid": 1, + "pos": [ + -163.67721622685065, + 113.77577116414078, + -24.26226398929532 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -162.17721622685065, + 116.3738473754941, + -24.26226398929532 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -160.67721622685065, + 118.97192358684741, + -24.26226398929532 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -159.17721622685065, + 121.56999979820073, + -24.26226398929532 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -157.67721622685065, + 124.16807600955404, + -24.26226398929532 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -156.17721622685065, + 126.76615222090736, + -24.26226398929532 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -154.67721622685065, + 129.3642284322607, + -24.26226398929532 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -153.17721622685065, + 131.962304643614, + -24.26226398929532 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -151.67721622685065, + 134.56038085496732, + -24.26226398929532 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -150.17721622685065, + 137.15845706632064, + -24.26226398929532 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -148.67721622685065, + 139.75653327767395, + -24.26226398929532 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -147.17721622685065, + 142.35460948902727, + -24.26226398929532 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -145.67721622685065, + 144.95268570038058, + -24.26226398929532 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -144.17721622685065, + 147.5507619117339, + -24.26226398929532 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -142.67721622685065, + 150.14883812308722, + -24.26226398929532 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -141.17721622685065, + 152.74691433444053, + -24.26226398929532 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -139.67721622685065, + 155.34499054579385, + -24.26226398929532 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -138.17721622685065, + 157.94306675714716, + -24.26226398929532 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -136.67721622685065, + 160.54114296850048, + -24.26226398929532 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -135.17721622685065, + 163.1392191798538, + -24.26226398929532 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -133.67721622685065, + 165.7372953912071, + -24.26226398929532 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -133.67721622685065, + 165.7372953912071, + -24.26226398929532 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -131.07914001549733, + 167.2372953912071, + -24.26226398929532 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -128.48106380414401, + 168.7372953912071, + -24.26226398929532 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -125.8829875927907, + 170.2372953912071, + -24.26226398929532 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -123.28491138143738, + 171.7372953912071, + -24.26226398929532 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -120.68683517008407, + 173.2372953912071, + -24.26226398929532 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -118.08875895873075, + 174.7372953912071, + -24.26226398929532 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -115.49068274737743, + 176.2372953912071, + -24.26226398929532 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -112.89260653602412, + 177.7372953912071, + -24.26226398929532 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -110.2945303246708, + 179.2372953912071, + -24.26226398929532 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -107.69645411331749, + 180.7372953912071, + -24.26226398929532 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -105.09837790196417, + 182.2372953912071, + -24.26226398929532 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -102.50030169061085, + 183.7372953912071, + -24.26226398929532 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -99.90222547925754, + 185.2372953912071, + -24.26226398929532 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -97.30414926790422, + 186.7372953912071, + -24.26226398929532 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [] +} +{ + "action": { + "imageid": 37, + "pos": [ + -94.7060730565509, + 188.2372953912071, + -24.26226398929532 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + }, + "objects": [] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_19-19-12_630668850/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_19-19-12_630668850/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5670147e14aab007f7d41d563e55b7b5e46b6bbd --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_19-19-12_630668850/pose.jsonl @@ -0,0 +1,1116 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -459.9040203453814, + 150.6134264587651, + -10.387822612282744 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -462.5020965567347, + 152.1134264587651, + -10.387822612282744 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -465.10017276808804, + 153.6134264587651, + -10.387822612282744 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -467.69824897944136, + 155.1134264587651, + -10.387822612282744 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -470.2963251907947, + 156.6134264587651, + -10.387822612282744 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -472.894401402148, + 158.1134264587651, + -10.387822612282744 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -475.4924776135013, + 159.6134264587651, + -10.387822612282744 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -478.0905538248546, + 161.1134264587651, + -10.387822612282744 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -480.68863003620794, + 162.6134264587651, + -10.387822612282744 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -483.28670624756126, + 164.1134264587651, + -10.387822612282744 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -485.8847824589146, + 165.6134264587651, + -10.387822612282744 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -488.4828586702679, + 167.1134264587651, + -10.387822612282744 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -491.0809348816212, + 168.6134264587651, + -10.387822612282744 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -493.6790110929745, + 170.1134264587651, + -10.387822612282744 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -496.27708730432784, + 171.6134264587651, + -10.387822612282744 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -498.87516351568115, + 173.1134264587651, + -10.387822612282744 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -501.47323972703447, + 174.6134264587651, + -10.387822612282744 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -504.0713159383878, + 176.1134264587651, + -10.387822612282744 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -506.6693921497411, + 177.6134264587651, + -10.387822612282744 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -509.2674683610944, + 179.1134264587651, + -10.387822612282744 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -511.86554457244773, + 180.6134264587651, + -10.387822612282744 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -514.463620783801, + 182.1134264587651, + -10.387822612282744 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -517.0616969951543, + 183.6134264587651, + -10.387822612282744 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -519.6597732065077, + 185.1134264587651, + -10.387822612282744 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -519.6597732065077, + 185.1134264587651, + -10.387822612282744 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + }, + "objects": [] +} +{ + "action": { + "imageid": 25, + "pos": [ + -522.6597732065077, + 185.1134264587651, + -10.387822612282744 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 26, + "pos": [ + -525.6597732065077, + 185.1134264587651, + -10.387822612282744 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -528.6597732065077, + 185.1134264587651, + -10.387822612282744 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -531.6597732065077, + 185.1134264587651, + -10.387822612282744 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -534.6597732065077, + 185.1134264587651, + -10.387822612282744 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -537.6597732065077, + 185.1134264587651, + -10.387822612282744 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -540.6597732065077, + 185.1134264587651, + -10.387822612282744 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_19-21-52_452867621/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_19-21-52_452867621/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cd0436c6e6add40c23ace23c4700ff18d2ca395c --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_19-21-52_452867621/pose.jsonl @@ -0,0 +1,1510 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -120.94889874206231, + 618.4722931928828, + -29.11364326871339 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -123.54697495341563, + 616.9722931928828, + -29.11364326871339 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -126.14505116476894, + 615.4722931928828, + -29.11364326871339 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -128.74312737612226, + 613.9722931928828, + -29.11364326871339 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -131.34120358747558, + 612.4722931928828, + -29.11364326871339 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -133.9392797988289, + 610.9722931928828, + -29.11364326871339 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -136.5373560101822, + 609.4722931928828, + -29.11364326871339 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -139.13543222153552, + 607.9722931928828, + -29.11364326871339 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -141.73350843288884, + 606.4722931928828, + -29.11364326871339 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -144.33158464424216, + 604.9722931928828, + -29.11364326871339 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -146.92966085559547, + 603.4722931928828, + -29.11364326871339 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -149.5277370669488, + 601.9722931928828, + -29.11364326871339 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -152.1258132783021, + 600.4722931928828, + -29.11364326871339 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -154.72388948965542, + 598.9722931928828, + -29.11364326871339 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -157.32196570100874, + 597.4722931928828, + -29.11364326871339 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -159.92004191236205, + 595.9722931928828, + -29.11364326871339 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -162.51811812371537, + 594.4722931928828, + -29.11364326871339 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -165.11619433506868, + 592.9722931928828, + -29.11364326871339 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -167.714270546422, + 591.4722931928828, + -29.11364326871339 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -170.31234675777532, + 589.9722931928828, + -29.11364326871339 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -172.91042296912863, + 588.4722931928828, + -29.11364326871339 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -175.50849918048195, + 586.9722931928828, + -29.11364326871339 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -178.10657539183526, + 585.4722931928828, + -29.11364326871339 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -180.70465160318858, + 583.9722931928828, + -29.11364326871339 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -183.3027278145419, + 582.4722931928828, + -29.11364326871339 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -185.9008040258952, + 580.9722931928828, + -29.11364326871339 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -188.49888023724853, + 579.4722931928828, + -29.11364326871339 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -188.49888023724853, + 579.4722931928828, + -29.11364326871339 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -191.49888023724853, + 579.4722931928828, + -29.11364326871339 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -194.49888023724853, + 579.4722931928828, + -29.11364326871339 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -197.49888023724853, + 579.4722931928828, + -29.11364326871339 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -200.49888023724853, + 579.4722931928828, + -29.11364326871339 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -203.49888023724853, + 579.4722931928828, + -29.11364326871339 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_19-22-50_201690613/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_19-22-50_201690613/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1bd44c7526c9fee64722d2d42e530e7a9bc26bb6 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_19-22-50_201690613/pose.jsonl @@ -0,0 +1,764 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -451.9655155346386, + 514.5659625405398, + -18.673111378637515 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 1, + "pos": [ + -454.9655155346386, + 514.5659625405398, + -18.673111378637515 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 2, + "pos": [ + -457.9655155346386, + 514.5659625405398, + -18.673111378637515 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 3, + "pos": [ + -460.9655155346386, + 514.5659625405398, + -18.673111378637515 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 4, + "pos": [ + -463.9655155346386, + 514.5659625405398, + -18.673111378637515 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 5, + "pos": [ + -466.9655155346386, + 514.5659625405398, + -18.673111378637515 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 6, + "pos": [ + -469.9655155346386, + 514.5659625405398, + -18.673111378637515 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 7, + "pos": [ + -472.9655155346386, + 514.5659625405398, + -18.673111378637515 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 8, + "pos": [ + -475.9655155346386, + 514.5659625405398, + -18.673111378637515 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -478.9655155346386, + 514.5659625405398, + -18.673111378637515 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -481.9655155346386, + 514.5659625405398, + -18.673111378637515 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -484.9655155346386, + 514.5659625405398, + -18.673111378637515 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -487.9655155346386, + 514.5659625405398, + -18.673111378637515 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -490.9655155346386, + 514.5659625405398, + -18.673111378637515 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -493.9655155346386, + 514.5659625405398, + -18.673111378637515 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -496.9655155346386, + 514.5659625405398, + -18.673111378637515 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -499.9655155346386, + 514.5659625405398, + -18.673111378637515 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -502.9655155346386, + 514.5659625405398, + -18.673111378637515 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -505.9655155346386, + 514.5659625405398, + -18.673111378637515 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -508.9655155346386, + 514.5659625405398, + -18.673111378637515 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -511.9655155346386, + 514.5659625405398, + -18.673111378637515 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 21, + "pos": [ + -514.9655155346386, + 514.5659625405398, + -18.673111378637515 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 22, + "pos": [ + -517.9655155346386, + 514.5659625405398, + -18.673111378637515 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 23, + "pos": [ + -520.9655155346386, + 514.5659625405398, + -18.673111378637515 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 24, + "pos": [ + -523.9655155346386, + 514.5659625405398, + -18.673111378637515 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 25, + "pos": [ + -526.9655155346386, + 514.5659625405398, + -18.673111378637515 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 26, + "pos": [ + -529.9655155346386, + 514.5659625405398, + -18.673111378637515 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 27, + "pos": [ + -532.9655155346386, + 514.5659625405398, + -18.673111378637515 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 28, + "pos": [ + -535.9655155346386, + 514.5659625405398, + -18.673111378637515 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 29, + "pos": [ + -535.9655155346386, + 514.5659625405398, + -18.673111378637515 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + }, + "objects": [] +} +{ + "action": { + "imageid": 30, + "pos": [ + -538.563591745992, + 513.0659625405398, + -18.673111378637515 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -541.1616679573453, + 511.5659625405398, + -18.673111378637515 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -543.7597441686987, + 510.0659625405398, + -18.673111378637515 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_19-5-30_846811127/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_19-5-30_846811127/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d504864fd5a025373a1adafd98bb94f1a57f5247 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_19-5-30_846811127/pose.jsonl @@ -0,0 +1,907 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -525.7726541844893, + 448.4213832637678, + -18.96833139678145 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -528.3707303958427, + 449.9213832637678, + -18.96833139678145 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -530.968806607196, + 451.4213832637678, + -18.96833139678145 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -533.5668828185494, + 452.9213832637678, + -18.96833139678145 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -536.1649590299028, + 454.4213832637678, + -18.96833139678145 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -538.7630352412561, + 455.9213832637678, + -18.96833139678145 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -541.3611114526095, + 457.4213832637678, + -18.96833139678145 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -543.9591876639629, + 458.9213832637678, + -18.96833139678145 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -546.5572638753163, + 460.4213832637678, + -18.96833139678145 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -549.1553400866696, + 461.9213832637678, + -18.96833139678145 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -551.753416298023, + 463.4213832637678, + -18.96833139678145 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -554.3514925093764, + 464.9213832637678, + -18.96833139678145 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -556.9495687207298, + 466.4213832637678, + -18.96833139678145 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -559.5476449320831, + 467.9213832637678, + -18.96833139678145 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -559.5476449320831, + 467.9213832637678, + -18.96833139678145 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + }, + "objects": [] +} +{ + "action": { + "imageid": 15, + "pos": [ + -562.5476449320831, + 467.9213832637678, + -18.96833139678145 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 16, + "pos": [ + -565.5476449320831, + 467.9213832637678, + -18.96833139678145 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 17, + "pos": [ + -568.5476449320831, + 467.9213832637678, + -18.96833139678145 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 18, + "pos": [ + -571.5476449320831, + 467.9213832637678, + -18.96833139678145 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 19, + "pos": [ + -574.5476449320831, + 467.9213832637678, + -18.96833139678145 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 20, + "pos": [ + -577.5476449320831, + 467.9213832637678, + -18.96833139678145 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 21, + "pos": [ + -580.5476449320831, + 467.9213832637678, + -18.96833139678145 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 22, + "pos": [ + -583.5476449320831, + 467.9213832637678, + -18.96833139678145 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 23, + "pos": [ + -586.5476449320831, + 467.9213832637678, + -18.96833139678145 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 24, + "pos": [ + -589.5476449320831, + 467.9213832637678, + -18.96833139678145 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -592.5476449320831, + 467.9213832637678, + -18.96833139678145 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -595.5476449320831, + 467.9213832637678, + -18.96833139678145 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -598.5476449320831, + 467.9213832637678, + -18.96833139678145 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -601.5476449320831, + 467.9213832637678, + -18.96833139678145 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_19-7-6_155789224/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_19-7-6_155789224/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bef923a0acb48a2e2b0f3a5e7ec701c5bb235c8f --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_19-7-6_155789224/pose.jsonl @@ -0,0 +1,1019 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 56.98181383569752, + 327.07303598154124, + -9.286205334894515 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + 55.48181383569752, + 329.67111219289455, + -9.286205334894515 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + 53.98181383569752, + 332.26918840424787, + -9.286205334894515 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + 52.48181383569752, + 334.8672646156012, + -9.286205334894515 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + 50.98181383569752, + 337.4653408269545, + -9.286205334894515 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + 49.48181383569752, + 340.0634170383078, + -9.286205334894515 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + 47.98181383569752, + 342.66149324966113, + -9.286205334894515 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + 46.48181383569752, + 345.25956946101445, + -9.286205334894515 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + 44.98181383569752, + 347.85764567236777, + -9.286205334894515 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + 43.48181383569752, + 350.4557218837211, + -9.286205334894515 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + 41.98181383569752, + 353.0537980950744, + -9.286205334894515 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + 40.48181383569752, + 355.6518743064277, + -9.286205334894515 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + 38.98181383569752, + 358.24995051778103, + -9.286205334894515 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + 37.48181383569752, + 360.84802672913435, + -9.286205334894515 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + 35.98181383569752, + 363.44610294048766, + -9.286205334894515 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + 34.48181383569752, + 366.044179151841, + -9.286205334894515 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + 32.98181383569752, + 368.6422553631943, + -9.286205334894515 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + 31.481813835697523, + 371.2403315745476, + -9.286205334894515 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + 29.981813835697523, + 373.8384077859009, + -9.286205334894515 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + 28.481813835697523, + 376.43648399725424, + -9.286205334894515 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + 26.981813835697523, + 379.03456020860756, + -9.286205334894515 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + 25.481813835697523, + 381.6326364199609, + -9.286205334894515 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + 23.981813835697523, + 384.2307126313142, + -9.286205334894515 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + 22.481813835697523, + 386.8287888426675, + -9.286205334894515 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + 20.981813835697523, + 389.4268650540208, + -9.286205334894515 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + 19.481813835697523, + 392.02494126537414, + -9.286205334894515 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + 17.981813835697523, + 394.62301747672745, + -9.286205334894515 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + 16.481813835697523, + 397.22109368808077, + -9.286205334894515 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_2-16-12_1476153275/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_2-16-12_1476153275/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f987b485bc33fbfef442dc18dd20cc87c2bf1566 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_2-16-12_1476153275/pose.jsonl @@ -0,0 +1,1371 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -149.97650529541522, + 569.8268824908712, + -9.111317603887688 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -152.57458150676854, + 571.3268824908712, + -9.111317603887688 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -155.17265771812185, + 572.8268824908712, + -9.111317603887688 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -157.77073392947517, + 574.3268824908712, + -9.111317603887688 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -160.3688101408285, + 575.8268824908712, + -9.111317603887688 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -162.9668863521818, + 577.3268824908712, + -9.111317603887688 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -165.56496256353512, + 578.8268824908712, + -9.111317603887688 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -168.16303877488843, + 580.3268824908712, + -9.111317603887688 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -170.76111498624175, + 581.8268824908712, + -9.111317603887688 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -173.35919119759507, + 583.3268824908712, + -9.111317603887688 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -175.95726740894838, + 584.8268824908712, + -9.111317603887688 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -178.5553436203017, + 586.3268824908712, + -9.111317603887688 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -181.15341983165501, + 587.8268824908712, + -9.111317603887688 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -183.75149604300833, + 589.3268824908712, + -9.111317603887688 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -186.34957225436165, + 590.8268824908712, + -9.111317603887688 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -188.94764846571496, + 592.3268824908712, + -9.111317603887688 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -191.54572467706828, + 593.8268824908712, + -9.111317603887688 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -194.1438008884216, + 595.3268824908712, + -9.111317603887688 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -196.7418770997749, + 596.8268824908712, + -9.111317603887688 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -199.33995331112823, + 598.3268824908712, + -9.111317603887688 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -201.93802952248154, + 599.8268824908712, + -9.111317603887688 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -204.53610573383486, + 601.3268824908712, + -9.111317603887688 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -207.13418194518817, + 602.8268824908712, + -9.111317603887688 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -209.7322581565415, + 604.3268824908712, + -9.111317603887688 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -212.3303343678948, + 605.8268824908712, + -9.111317603887688 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -214.92841057924812, + 607.3268824908712, + -9.111317603887688 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -217.52648679060144, + 608.8268824908712, + -9.111317603887688 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -217.52648679060144, + 608.8268824908712, + -9.111317603887688 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -220.52648679060144, + 608.8268824908712, + -9.111317603887688 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -223.52648679060144, + 608.8268824908712, + -9.111317603887688 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -226.52648679060144, + 608.8268824908712, + -9.111317603887688 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -229.52648679060144, + 608.8268824908712, + -9.111317603887688 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -232.52648679060144, + 608.8268824908712, + -9.111317603887688 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -235.52648679060144, + 608.8268824908712, + -9.111317603887688 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -238.52648679060144, + 608.8268824908712, + -9.111317603887688 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -241.52648679060144, + 608.8268824908712, + -9.111317603887688 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 36, + "pos": [ + -244.52648679060144, + 608.8268824908712, + -9.111317603887688 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -247.52648679060144, + 608.8268824908712, + -9.111317603887688 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -250.52648679060144, + 608.8268824908712, + -9.111317603887688 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 39, + "pos": [ + -253.52648679060144, + 608.8268824908712, + -9.111317603887688 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 40, + "pos": [ + -256.52648679060144, + 608.8268824908712, + -9.111317603887688 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 41, + "pos": [ + -259.52648679060144, + 608.8268824908712, + -9.111317603887688 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_2-21-35_1884661237/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_2-21-35_1884661237/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5e2c56e66bf4b48574f8fc278a66f3906a82670e --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_2-21-35_1884661237/pose.jsonl @@ -0,0 +1,1274 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -236.30946375001696, + 525.165582990474, + -24.483361751398316 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -238.90753996137028, + 523.665582990474, + -24.483361751398316 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -241.5056161727236, + 522.165582990474, + -24.483361751398316 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -244.1036923840769, + 520.665582990474, + -24.483361751398316 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -246.70176859543022, + 519.165582990474, + -24.483361751398316 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -249.29984480678354, + 517.665582990474, + -24.483361751398316 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -251.89792101813686, + 516.165582990474, + -24.483361751398316 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -254.49599722949017, + 514.665582990474, + -24.483361751398316 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -257.0940734408435, + 513.165582990474, + -24.483361751398316 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -259.6921496521968, + 511.66558299047404, + -24.483361751398316 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -262.2902258635501, + 510.16558299047404, + -24.483361751398316 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -264.88830207490344, + 508.66558299047404, + -24.483361751398316 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -267.48637828625675, + 507.16558299047404, + -24.483361751398316 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -270.08445449761007, + 505.66558299047404, + -24.483361751398316 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -272.6825307089634, + 504.16558299047404, + -24.483361751398316 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -275.2806069203167, + 502.66558299047404, + -24.483361751398316 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -277.87868313167, + 501.16558299047404, + -24.483361751398316 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -280.47675934302333, + 499.66558299047404, + -24.483361751398316 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -283.07483555437665, + 498.16558299047404, + -24.483361751398316 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -285.67291176572996, + 496.66558299047404, + -24.483361751398316 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -288.2709879770833, + 495.16558299047404, + -24.483361751398316 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -290.8690641884366, + 493.66558299047404, + -24.483361751398316 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -293.4671403997899, + 492.16558299047404, + -24.483361751398316 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -293.4671403997899, + 492.16558299047404, + -24.483361751398316 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -294.9671403997899, + 489.5675067791207, + -24.483361751398316 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -296.4671403997899, + 486.9694305677674, + -24.483361751398316 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -297.9671403997899, + 484.3713543564141, + -24.483361751398316 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -299.4671403997899, + 481.7732781450608, + -24.483361751398316 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -300.9671403997899, + 479.17520193370746, + -24.483361751398316 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -302.4671403997899, + 476.57712572235414, + -24.483361751398316 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -303.9671403997899, + 473.9790495110008, + -24.483361751398316 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -305.4671403997899, + 471.3809732996475, + -24.483361751398316 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_2-23-57_76065818/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_2-23-57_76065818/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fb32b6028ca7ed65dc0252a555d4f92c472cee6d --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_2-23-57_76065818/pose.jsonl @@ -0,0 +1,2291 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -773.354192693864, + 636.1678378885391, + -17.622854450844542 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -770.354192693864, + 636.1678378885391, + -17.622854450844542 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -770.354192693864, + 636.1678378885391, + -17.622854450844542 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -770.354192693864, + 636.1678378885391, + -17.622854450844542 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -768.854192693864, + 633.5697616771859, + -17.622854450844542 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -767.354192693864, + 630.9716854658325, + -17.622854450844542 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -765.854192693864, + 628.3736092544791, + -17.622854450844542 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -765.854192693864, + 628.3736092544791, + -17.622854450844542 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -763.2561164825106, + 626.8736092544791, + -17.622854450844542 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -760.6580402711572, + 625.3736092544791, + -17.622854450844542 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -758.0599640598039, + 623.8736092544791, + -17.622854450844542 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -755.4618878484505, + 622.3736092544791, + -17.622854450844542 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -752.8638116370971, + 620.8736092544791, + -17.622854450844542 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -750.2657354257437, + 619.3736092544791, + -17.622854450844542 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -747.6676592143904, + 617.8736092544791, + -17.622854450844542 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -745.069583003037, + 616.3736092544791, + -17.622854450844542 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -742.4715067916836, + 614.8736092544791, + -17.622854450844542 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -739.8734305803303, + 613.3736092544791, + -17.622854450844542 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -737.2753543689769, + 611.8736092544791, + -17.622854450844542 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -734.6772781576235, + 610.3736092544791, + -17.622854450844542 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -732.0792019462701, + 608.8736092544791, + -17.622854450844542 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -729.4811257349168, + 607.3736092544791, + -17.622854450844542 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -726.8830495235634, + 605.8736092544791, + -17.622854450844542 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -724.28497331221, + 604.3736092544791, + -17.622854450844542 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -721.6868971008566, + 602.8736092544791, + -17.622854450844542 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -719.0888208895033, + 601.3736092544791, + -17.622854450844542 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -716.4907446781499, + 599.8736092544791, + -17.622854450844542 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -713.8926684667965, + 598.3736092544791, + -17.622854450844542 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -711.2945922554431, + 596.8736092544791, + -17.622854450844542 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -708.6965160440898, + 595.3736092544791, + -17.622854450844542 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -706.0984398327364, + 593.8736092544791, + -17.622854450844542 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -703.500363621383, + 592.3736092544791, + -17.622854450844542 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -700.9022874100297, + 590.8736092544791, + -17.622854450844542 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -698.3042111986763, + 589.3736092544791, + -17.622854450844542 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -695.7061349873229, + 587.8736092544791, + -17.622854450844542 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -693.1080587759695, + 586.3736092544791, + -17.622854450844542 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -690.5099825646162, + 584.8736092544791, + -17.622854450844542 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -687.9119063532628, + 583.3736092544791, + -17.622854450844542 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -685.3138301419094, + 581.8736092544791, + -17.622854450844542 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 39, + "pos": [ + -682.715753930556, + 580.3736092544791, + -17.622854450844542 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_2-35-49_1395235128/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_2-35-49_1395235128/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fc5c8977abd31519fb656fef5e7f0c554d059357 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_2-35-49_1395235128/pose.jsonl @@ -0,0 +1,1762 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -774.7824371993449, + 776.3739780090842, + -12.159450156915888 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -773.2824371993449, + 773.775901797731, + -12.159450156915888 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -771.7824371993449, + 771.1778255863776, + -12.159450156915888 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -770.2824371993449, + 768.5797493750242, + -12.159450156915888 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -768.7824371993449, + 765.9816731636708, + -12.159450156915888 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -767.2824371993449, + 763.3835969523175, + -12.159450156915888 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -765.7824371993449, + 760.7855207409641, + -12.159450156915888 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -764.2824371993449, + 758.1874445296107, + -12.159450156915888 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -762.7824371993449, + 755.5893683182574, + -12.159450156915888 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -761.2824371993449, + 752.991292106904, + -12.159450156915888 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -759.7824371993449, + 750.3932158955506, + -12.159450156915888 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -758.2824371993449, + 747.7951396841972, + -12.159450156915888 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -756.7824371993449, + 745.1970634728439, + -12.159450156915888 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -755.2824371993449, + 742.5989872614905, + -12.159450156915888 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -753.7824371993449, + 740.0009110501371, + -12.159450156915888 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -752.2824371993449, + 737.4028348387837, + -12.159450156915888 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -750.7824371993449, + 734.8047586274304, + -12.159450156915888 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -749.2824371993449, + 732.206682416077, + -12.159450156915888 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -747.7824371993449, + 729.6086062047236, + -12.159450156915888 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -746.2824371993449, + 727.0105299933703, + -12.159450156915888 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -744.7824371993449, + 724.4124537820169, + -12.159450156915888 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -743.2824371993449, + 721.8143775706635, + -12.159450156915888 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -741.7824371993449, + 719.2163013593101, + -12.159450156915888 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -740.2824371993449, + 716.6182251479568, + -12.159450156915888 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -738.7824371993449, + 714.0201489366034, + -12.159450156915888 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -737.2824371993449, + 711.42207272525, + -12.159450156915888 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -735.7824371993449, + 708.8239965138966, + -12.159450156915888 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -734.2824371993449, + 706.2259203025433, + -12.159450156915888 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -732.7824371993449, + 703.6278440911899, + -12.159450156915888 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -732.7824371993449, + 703.6278440911899, + -12.159450156915888 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -732.7824371993449, + 700.6278440911899, + -12.159450156915888 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -732.7824371993449, + 697.6278440911899, + -12.159450156915888 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -732.7824371993449, + 694.6278440911899, + -12.159450156915888 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -732.7824371993449, + 691.6278440911899, + -12.159450156915888 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -732.7824371993449, + 688.6278440911899, + -12.159450156915888 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -732.7824371993449, + 685.6278440911899, + -12.159450156915888 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -732.7824371993449, + 682.6278440911899, + -12.159450156915888 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -732.7824371993449, + 679.6278440911899, + -12.159450156915888 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -732.7824371993449, + 676.6278440911899, + -12.159450156915888 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 39, + "pos": [ + -732.7824371993449, + 673.6278440911899, + -12.159450156915888 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 40, + "pos": [ + -732.7824371993449, + 670.6278440911899, + -12.159450156915888 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 41, + "pos": [ + -732.7824371993449, + 667.6278440911899, + -12.159450156915888 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_2-41-14_496987743/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_2-41-14_496987743/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..aa8246060a2c0669419232943c88c902eb87bcad --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_2-41-14_496987743/pose.jsonl @@ -0,0 +1,1742 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -392.90146510794955, + 549.4007875938595, + -11.08130067709104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -389.90146510794955, + 549.4007875938595, + -11.08130067709104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -386.90146510794955, + 549.4007875938595, + -11.08130067709104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -383.90146510794955, + 549.4007875938595, + -11.08130067709104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -380.90146510794955, + 549.4007875938595, + -11.08130067709104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -377.90146510794955, + 549.4007875938595, + -11.08130067709104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -374.90146510794955, + 549.4007875938595, + -11.08130067709104 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -374.90146510794955, + 549.4007875938595, + -11.08130067709104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -372.30338889659623, + 550.9007875938595, + -11.08130067709104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -369.7053126852429, + 552.4007875938595, + -11.08130067709104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -367.1072364738896, + 553.9007875938595, + -11.08130067709104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -364.5091602625363, + 555.4007875938595, + -11.08130067709104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -361.91108405118297, + 556.9007875938595, + -11.08130067709104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -359.31300783982965, + 558.4007875938595, + -11.08130067709104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -356.71493162847634, + 559.9007875938595, + -11.08130067709104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -354.116855417123, + 561.4007875938595, + -11.08130067709104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -351.5187792057697, + 562.9007875938595, + -11.08130067709104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -348.9207029944164, + 564.4007875938595, + -11.08130067709104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -346.3226267830631, + 565.9007875938595, + -11.08130067709104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -343.72455057170976, + 567.4007875938595, + -11.08130067709104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -341.12647436035644, + 568.9007875938595, + -11.08130067709104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -338.5283981490031, + 570.4007875938595, + -11.08130067709104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -335.9303219376498, + 571.9007875938595, + -11.08130067709104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -333.3322457262965, + 573.4007875938595, + -11.08130067709104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -330.7341695149432, + 574.9007875938595, + -11.08130067709104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -328.13609330358986, + 576.4007875938595, + -11.08130067709104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -325.53801709223654, + 577.9007875938595, + -11.08130067709104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -322.9399408808832, + 579.4007875938595, + -11.08130067709104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -320.3418646695299, + 580.9007875938595, + -11.08130067709104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -317.7437884581766, + 582.4007875938595, + -11.08130067709104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -315.1457122468233, + 583.9007875938595, + -11.08130067709104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -312.54763603546996, + 585.4007875938595, + -11.08130067709104 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_2-5-51_155324914/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_2-5-51_155324914/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e879fec7ebf074d7e85c086246ca19bc471102e5 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_2-5-51_155324914/pose.jsonl @@ -0,0 +1,864 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -123.61030057939176, + 590.5465176938179, + -13.018168001981604 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 1, + "pos": [ + -126.61030057939176, + 590.5465176938179, + -13.018168001981604 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 2, + "pos": [ + -129.61030057939178, + 590.5465176938179, + -13.018168001981604 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 3, + "pos": [ + -132.61030057939178, + 590.5465176938179, + -13.018168001981604 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 4, + "pos": [ + -135.61030057939178, + 590.5465176938179, + -13.018168001981604 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 5, + "pos": [ + -138.61030057939178, + 590.5465176938179, + -13.018168001981604 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 6, + "pos": [ + -141.61030057939178, + 590.5465176938179, + -13.018168001981604 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 7, + "pos": [ + -144.61030057939178, + 590.5465176938179, + -13.018168001981604 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 8, + "pos": [ + -147.61030057939178, + 590.5465176938179, + -13.018168001981604 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 9, + "pos": [ + -150.61030057939178, + 590.5465176938179, + -13.018168001981604 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 10, + "pos": [ + -153.61030057939178, + 590.5465176938179, + -13.018168001981604 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 11, + "pos": [ + -156.61030057939178, + 590.5465176938179, + -13.018168001981604 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 12, + "pos": [ + -159.61030057939178, + 590.5465176938179, + -13.018168001981604 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 13, + "pos": [ + -162.61030057939178, + 590.5465176938179, + -13.018168001981604 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 14, + "pos": [ + -165.61030057939178, + 590.5465176938179, + -13.018168001981604 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 15, + "pos": [ + -168.61030057939178, + 590.5465176938179, + -13.018168001981604 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -171.61030057939178, + 590.5465176938179, + -13.018168001981604 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -174.61030057939178, + 590.5465176938179, + -13.018168001981604 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -177.61030057939178, + 590.5465176938179, + -13.018168001981604 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -180.61030057939178, + 590.5465176938179, + -13.018168001981604 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -183.61030057939178, + 590.5465176938179, + -13.018168001981604 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -186.61030057939178, + 590.5465176938179, + -13.018168001981604 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -189.61030057939178, + 590.5465176938179, + -13.018168001981604 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -192.61030057939178, + 590.5465176938179, + -13.018168001981604 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -195.61030057939178, + 590.5465176938179, + -13.018168001981604 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -198.61030057939178, + 590.5465176938179, + -13.018168001981604 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -201.61030057939178, + 590.5465176938179, + -13.018168001981604 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -204.61030057939178, + 590.5465176938179, + -13.018168001981604 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -207.61030057939178, + 590.5465176938179, + -13.018168001981604 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -210.61030057939178, + 590.5465176938179, + -13.018168001981604 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -213.61030057939178, + 590.5465176938179, + -13.018168001981604 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -216.61030057939178, + 590.5465176938179, + -13.018168001981604 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -219.61030057939178, + 590.5465176938179, + -13.018168001981604 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -222.61030057939178, + 590.5465176938179, + -13.018168001981604 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -225.61030057939178, + 590.5465176938179, + -13.018168001981604 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -228.61030057939178, + 590.5465176938179, + -13.018168001981604 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_2-50-51_1272469786/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_2-50-51_1272469786/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ef7322e877723f630f4a2dd1d35e24a270fc5531 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_2-50-51_1272469786/pose.jsonl @@ -0,0 +1,1396 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -426.1573142530438, + 391.3976581924253, + -23.318060698019956 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -427.6573142530438, + 393.9957344037786, + -23.318060698019956 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [] +} +{ + "action": { + "imageid": 2, + "pos": [ + -429.1573142530438, + 396.59381061513193, + -23.318060698019956 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -430.6573142530438, + 399.19188682648524, + -23.318060698019956 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -432.1573142530438, + 401.78996303783856, + -23.318060698019956 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -433.6573142530438, + 404.3880392491919, + -23.318060698019956 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -435.1573142530438, + 406.9861154605452, + -23.318060698019956 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -436.6573142530438, + 409.5841916718985, + -23.318060698019956 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -438.1573142530438, + 412.1822678832518, + -23.318060698019956 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -439.6573142530438, + 414.78034409460514, + -23.318060698019956 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -441.1573142530438, + 417.37842030595846, + -23.318060698019956 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -442.6573142530438, + 419.9764965173118, + -23.318060698019956 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -444.1573142530438, + 422.5745727286651, + -23.318060698019956 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -445.6573142530438, + 425.1726489400184, + -23.318060698019956 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -447.1573142530438, + 427.7707251513717, + -23.318060698019956 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -448.6573142530438, + 430.36880136272504, + -23.318060698019956 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -450.1573142530438, + 432.96687757407835, + -23.318060698019956 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -451.6573142530438, + 435.56495378543167, + -23.318060698019956 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -453.1573142530438, + 438.163029996785, + -23.318060698019956 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -454.6573142530438, + 440.7611062081383, + -23.318060698019956 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -456.1573142530438, + 443.3591824194916, + -23.318060698019956 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -457.6573142530438, + 445.95725863084493, + -23.318060698019956 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -459.1573142530438, + 448.55533484219825, + -23.318060698019956 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -460.6573142530438, + 451.15341105355157, + -23.318060698019956 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -462.1573142530438, + 453.7514872649049, + -23.318060698019956 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -463.6573142530438, + 456.3495634762582, + -23.318060698019956 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -465.1573142530438, + 458.9476396876115, + -23.318060698019956 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -466.6573142530438, + 461.54571589896483, + -23.318060698019956 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -468.1573142530438, + 464.14379211031815, + -23.318060698019956 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -469.6573142530438, + 466.74186832167146, + -23.318060698019956 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -471.1573142530438, + 469.3399445330248, + -23.318060698019956 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -472.6573142530438, + 471.9380207443781, + -23.318060698019956 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -474.1573142530438, + 474.5360969557314, + -23.318060698019956 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -475.6573142530438, + 477.1341731670847, + -23.318060698019956 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -477.1573142530438, + 479.73224937843804, + -23.318060698019956 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_2-9-36_350322227/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_2-9-36_350322227/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fb46dc8498e276ff748282c2454f0640f906b588 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_2-9-36_350322227/pose.jsonl @@ -0,0 +1,1161 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -432.79093381450406, + 233.96178837908803, + -12.275161485394381 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [] +} +{ + "action": { + "imageid": 1, + "pos": [ + -434.29093381450406, + 236.55986459044135, + -12.275161485394381 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [] +} +{ + "action": { + "imageid": 2, + "pos": [ + -435.79093381450406, + 239.15794080179467, + -12.275161485394381 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + }, + "objects": [] +} +{ + "action": { + "imageid": 3, + "pos": [ + -435.79093381450406, + 239.15794080179467, + -12.275161485394381 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -438.3890100258574, + 240.65794080179467, + -12.275161485394381 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -440.9870862372107, + 242.15794080179467, + -12.275161485394381 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -443.585162448564, + 243.65794080179467, + -12.275161485394381 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -446.1832386599173, + 245.15794080179467, + -12.275161485394381 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -448.78131487127064, + 246.65794080179467, + -12.275161485394381 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -451.37939108262395, + 248.15794080179467, + -12.275161485394381 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -453.97746729397727, + 249.65794080179467, + -12.275161485394381 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -456.5755435053306, + 251.15794080179467, + -12.275161485394381 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -459.1736197166839, + 252.65794080179467, + -12.275161485394381 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -461.7716959280372, + 254.15794080179467, + -12.275161485394381 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -464.36977213939053, + 255.65794080179467, + -12.275161485394381 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -466.96784835074385, + 257.15794080179467, + -12.275161485394381 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -469.56592456209717, + 258.65794080179467, + -12.275161485394381 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -469.56592456209717, + 258.65794080179467, + -12.275161485394381 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -472.56592456209717, + 258.65794080179467, + -12.275161485394381 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -475.56592456209717, + 258.65794080179467, + -12.275161485394381 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -478.56592456209717, + 258.65794080179467, + -12.275161485394381 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -481.56592456209717, + 258.65794080179467, + -12.275161485394381 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -484.56592456209717, + 258.65794080179467, + -12.275161485394381 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -487.56592456209717, + 258.65794080179467, + -12.275161485394381 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -490.56592456209717, + 258.65794080179467, + -12.275161485394381 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -493.56592456209717, + 258.65794080179467, + -12.275161485394381 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -496.56592456209717, + 258.65794080179467, + -12.275161485394381 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -499.56592456209717, + 258.65794080179467, + -12.275161485394381 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -502.56592456209717, + 258.65794080179467, + -12.275161485394381 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -505.56592456209717, + 258.65794080179467, + -12.275161485394381 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -508.56592456209717, + 258.65794080179467, + -12.275161485394381 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -511.56592456209717, + 258.65794080179467, + -12.275161485394381 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -514.5659245620972, + 258.65794080179467, + -12.275161485394381 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -517.5659245620972, + 258.65794080179467, + -12.275161485394381 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -520.5659245620972, + 258.65794080179467, + -12.275161485394381 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -523.5659245620972, + 258.65794080179467, + -12.275161485394381 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -526.5659245620972, + 258.65794080179467, + -12.275161485394381 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -529.5659245620972, + 258.65794080179467, + -12.275161485394381 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -532.5659245620972, + 258.65794080179467, + -12.275161485394381 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 39, + "pos": [ + -535.5659245620972, + 258.65794080179467, + -12.275161485394381 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 40, + "pos": [ + -538.5659245620972, + 258.65794080179467, + -12.275161485394381 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 41, + "pos": [ + -541.5659245620972, + 258.65794080179467, + -12.275161485394381 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-10-51_1540383426/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-10-51_1540383426/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5bbaf1494dffc6e4c0f5bf8680036c9de0226334 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-10-51_1540383426/pose.jsonl @@ -0,0 +1,1468 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -536.2762661435887, + 21.505663234231, + -26.00265138621488 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [] +} +{ + "action": { + "imageid": 1, + "pos": [ + -533.2762661435887, + 21.505663234231, + -26.00265138621488 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [] +} +{ + "action": { + "imageid": 2, + "pos": [ + -530.2762661435887, + 21.505663234231, + -26.00265138621488 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -527.2762661435887, + 21.505663234231, + -26.00265138621488 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -524.2762661435887, + 21.505663234231, + -26.00265138621488 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -521.2762661435887, + 21.505663234231, + -26.00265138621488 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -518.2762661435887, + 21.505663234231, + -26.00265138621488 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -515.2762661435887, + 21.505663234231, + -26.00265138621488 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -512.2762661435887, + 21.505663234231, + -26.00265138621488 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -509.2762661435887, + 21.505663234231, + -26.00265138621488 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -506.2762661435887, + 21.505663234231, + -26.00265138621488 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -503.2762661435887, + 21.505663234231, + -26.00265138621488 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -500.2762661435887, + 21.505663234231, + -26.00265138621488 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -497.2762661435887, + 21.505663234231, + -26.00265138621488 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -494.2762661435887, + 21.505663234231, + -26.00265138621488 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -491.2762661435887, + 21.505663234231, + -26.00265138621488 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -488.2762661435887, + 21.505663234231, + -26.00265138621488 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -485.2762661435887, + 21.505663234231, + -26.00265138621488 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -482.2762661435887, + 21.505663234231, + -26.00265138621488 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -482.2762661435887, + 21.505663234231, + -26.00265138621488 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -479.6781899322354, + 23.005663234231, + -26.00265138621488 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -479.6781899322354, + 23.005663234231, + -26.00265138621488 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -478.1781899322354, + 25.603739445584317, + -26.00265138621488 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -476.6781899322354, + 28.201815656937633, + -26.00265138621488 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -475.1781899322354, + 30.79989186829095, + -26.00265138621488 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -473.6781899322354, + 33.397968079644265, + -26.00265138621488 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -472.1781899322354, + 35.99604429099758, + -26.00265138621488 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -470.6781899322354, + 38.5941205023509, + -26.00265138621488 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -469.1781899322354, + 41.19219671370421, + -26.00265138621488 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -467.6781899322354, + 43.79027292505753, + -26.00265138621488 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -466.1781899322354, + 46.388349136410845, + -26.00265138621488 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -464.6781899322354, + 48.98642534776416, + -26.00265138621488 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -463.1781899322354, + 51.58450155911748, + -26.00265138621488 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -461.6781899322354, + 54.18257777047079, + -26.00265138621488 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -461.6781899322354, + 54.18257777047079, + -26.00265138621488 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -459.0801137208821, + 55.68257777047079, + -26.00265138621488 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -456.48203750952877, + 57.18257777047079, + -26.00265138621488 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -453.88396129817545, + 58.68257777047079, + -26.00265138621488 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -451.28588508682213, + 60.18257777047079, + -26.00265138621488 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 39, + "pos": [ + -448.6878088754688, + 61.68257777047079, + -26.00265138621488 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 40, + "pos": [ + -446.0897326641155, + 63.18257777047079, + -26.00265138621488 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 41, + "pos": [ + -443.4916564527622, + 64.68257777047079, + -26.00265138621488 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982968 + }, + "objects": [] +} +{ + "action": { + "imageid": 42, + "pos": [ + -443.4916564527622, + 64.68257777047079, + -26.00265138621488 + ], + "type": "turn right", + "value": 30, + "yaw": -1.9984014443252818e-15 + }, + "objects": [] +} +{ + "action": { + "imageid": 43, + "pos": [ + -443.4916564527622, + 64.68257777047079, + -26.00265138621488 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983008 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 44, + "pos": [ + -440.89358024140887, + 63.182577770470786, + -26.00265138621488 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 45, + "pos": [ + -440.89358024140887, + 63.182577770470786, + -26.00265138621488 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [] +} +{ + "action": { + "imageid": 46, + "pos": [ + -437.89358024140887, + 63.182577770470786, + -26.00265138621488 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [] +} +{ + "action": { + "imageid": 47, + "pos": [ + -434.89358024140887, + 63.182577770470786, + -26.00265138621488 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + }, + "objects": [] +} +{ + "action": { + "imageid": 48, + "pos": [ + -434.89358024140887, + 63.182577770470786, + -26.00265138621488 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + }, + "objects": [] +} +{ + "action": { + "imageid": 49, + "pos": [ + -434.89358024140887, + 63.182577770470786, + -26.00265138621488 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965976 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 50, + "pos": [ + -434.89358024140887, + 63.182577770470786, + -26.00265138621488 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 51, + "pos": [ + -434.89358024140887, + 60.182577770470786, + -26.00265138621488 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 52, + "pos": [ + -434.89358024140887, + 57.182577770470786, + -26.00265138621488 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 53, + "pos": [ + -434.89358024140887, + 54.182577770470786, + -26.00265138621488 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 54, + "pos": [ + -434.89358024140887, + 51.182577770470786, + -26.00265138621488 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-14-37_2145174067/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-14-37_2145174067/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..86f217690c65931470e1327b89e88640556cc8e1 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-14-37_2145174067/pose.jsonl @@ -0,0 +1,2159 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -187.95405272449113, + 490.5585966058072, + -11.661948487092985 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -189.45405272449113, + 493.15667281716054, + -11.661948487092985 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -190.95405272449113, + 495.75474902851386, + -11.661948487092985 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -192.45405272449113, + 498.3528252398672, + -11.661948487092985 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -193.95405272449113, + 500.9509014512205, + -11.661948487092985 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -195.45405272449113, + 503.5489776625738, + -11.661948487092985 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -196.95405272449113, + 506.1470538739271, + -11.661948487092985 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -198.45405272449113, + 508.74513008528044, + -11.661948487092985 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -199.95405272449113, + 511.34320629663375, + -11.661948487092985 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -201.45405272449113, + 513.9412825079871, + -11.661948487092985 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -202.95405272449113, + 516.5393587193405, + -11.661948487092985 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -204.45405272449113, + 519.1374349306939, + -11.661948487092985 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -205.95405272449113, + 521.7355111420472, + -11.661948487092985 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -207.45405272449113, + 524.3335873534006, + -11.661948487092985 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -208.95405272449113, + 526.931663564754, + -11.661948487092985 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -210.45405272449113, + 529.5297397761074, + -11.661948487092985 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -211.95405272449113, + 532.1278159874607, + -11.661948487092985 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -213.45405272449113, + 534.7258921988141, + -11.661948487092985 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -214.95405272449113, + 537.3239684101675, + -11.661948487092985 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -216.45405272449113, + 539.9220446215209, + -11.661948487092985 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -217.95405272449113, + 542.5201208328742, + -11.661948487092985 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -219.45405272449113, + 545.1181970442276, + -11.661948487092985 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -220.95405272449113, + 547.716273255581, + -11.661948487092985 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -222.45405272449113, + 550.3143494669343, + -11.661948487092985 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -223.95405272449113, + 552.9124256782877, + -11.661948487092985 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -225.45405272449113, + 555.5105018896411, + -11.661948487092985 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -226.95405272449113, + 558.1085781009945, + -11.661948487092985 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -228.45405272449113, + 560.7066543123478, + -11.661948487092985 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -229.95405272449113, + 563.3047305237012, + -11.661948487092985 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -229.95405272449113, + 563.3047305237012, + -11.661948487092985 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -229.95405272449113, + 566.3047305237012, + -11.661948487092985 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -229.95405272449113, + 569.3047305237012, + -11.661948487092985 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -229.95405272449113, + 572.3047305237012, + -11.661948487092985 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -229.95405272449113, + 575.3047305237012, + -11.661948487092985 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -229.95405272449113, + 578.3047305237012, + -11.661948487092985 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -229.95405272449113, + 581.3047305237012, + -11.661948487092985 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -229.95405272449113, + 584.3047305237012, + -11.661948487092985 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -229.95405272449113, + 587.3047305237012, + -11.661948487092985 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -229.95405272449113, + 590.3047305237012, + -11.661948487092985 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-16-56_1125898167/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-16-56_1125898167/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d4d8212708659bec54480b2b5856b263ae8e2239 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-16-56_1125898167/pose.jsonl @@ -0,0 +1,1770 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -609.8519901628924, + 524.6566953998132, + -17.422017981551647 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -611.3519901628924, + 527.2547716111665, + -17.422017981551647 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -612.8519901628924, + 529.8528478225198, + -17.422017981551647 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -614.3519901628924, + 532.4509240338732, + -17.422017981551647 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -615.8519901628924, + 535.0490002452266, + -17.422017981551647 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -617.3519901628924, + 537.64707645658, + -17.422017981551647 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -618.8519901628924, + 540.2451526679333, + -17.422017981551647 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -620.3519901628924, + 542.8432288792867, + -17.422017981551647 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -621.8519901628924, + 545.4413050906401, + -17.422017981551647 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -623.3519901628924, + 548.0393813019934, + -17.422017981551647 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -624.8519901628924, + 550.6374575133468, + -17.422017981551647 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -626.3519901628924, + 553.2355337247002, + -17.422017981551647 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -627.8519901628924, + 555.8336099360536, + -17.422017981551647 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -629.3519901628924, + 558.4316861474069, + -17.422017981551647 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -630.8519901628924, + 561.0297623587603, + -17.422017981551647 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -632.3519901628924, + 563.6278385701137, + -17.422017981551647 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -633.8519901628924, + 566.225914781467, + -17.422017981551647 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -635.3519901628924, + 568.8239909928204, + -17.422017981551647 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -636.8519901628924, + 571.4220672041738, + -17.422017981551647 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -638.3519901628924, + 574.0201434155272, + -17.422017981551647 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -639.8519901628924, + 576.6182196268805, + -17.422017981551647 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -639.8519901628924, + 576.6182196268805, + -17.422017981551647 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -639.8519901628924, + 579.6182196268805, + -17.422017981551647 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -639.8519901628924, + 582.6182196268805, + -17.422017981551647 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -639.8519901628924, + 585.6182196268805, + -17.422017981551647 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -639.8519901628924, + 588.6182196268805, + -17.422017981551647 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -639.8519901628924, + 591.6182196268805, + -17.422017981551647 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -639.8519901628924, + 594.6182196268805, + -17.422017981551647 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -639.8519901628924, + 597.6182196268805, + -17.422017981551647 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -639.8519901628924, + 600.6182196268805, + -17.422017981551647 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -639.8519901628924, + 603.6182196268805, + -17.422017981551647 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -639.8519901628924, + 606.6182196268805, + -17.422017981551647 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -639.8519901628924, + 609.6182196268805, + -17.422017981551647 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-22-7_184803526/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-22-7_184803526/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..39cf2e26f7eed87f752afdfb015a48f832268b39 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-22-7_184803526/pose.jsonl @@ -0,0 +1,1630 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -443.2295132321191, + 370.0919135168427, + -21.88791637092764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -444.7295132321191, + 372.689989728196, + -21.88791637092764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -446.2295132321191, + 375.2880659395493, + -21.88791637092764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -447.7295132321191, + 377.88614215090263, + -21.88791637092764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -449.2295132321191, + 380.48421836225594, + -21.88791637092764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -450.7295132321191, + 383.08229457360926, + -21.88791637092764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -452.2295132321191, + 385.6803707849626, + -21.88791637092764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -453.7295132321191, + 388.2784469963159, + -21.88791637092764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -455.2295132321191, + 390.8765232076692, + -21.88791637092764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -456.7295132321191, + 393.4745994190225, + -21.88791637092764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -458.2295132321191, + 396.07267563037584, + -21.88791637092764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -459.7295132321191, + 398.67075184172916, + -21.88791637092764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -461.2295132321191, + 401.2688280530825, + -21.88791637092764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -462.7295132321191, + 403.8669042644358, + -21.88791637092764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -464.2295132321191, + 406.4649804757891, + -21.88791637092764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -465.7295132321191, + 409.0630566871424, + -21.88791637092764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -467.2295132321191, + 411.66113289849574, + -21.88791637092764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -468.7295132321191, + 414.25920910984905, + -21.88791637092764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -470.2295132321191, + 416.85728532120237, + -21.88791637092764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -471.7295132321191, + 419.4553615325557, + -21.88791637092764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -473.2295132321191, + 422.053437743909, + -21.88791637092764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -474.7295132321191, + 424.6515139552623, + -21.88791637092764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -476.2295132321191, + 427.24959016661563, + -21.88791637092764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -477.7295132321191, + 429.84766637796895, + -21.88791637092764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -479.2295132321191, + 432.44574258932226, + -21.88791637092764 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -479.2295132321191, + 432.44574258932226, + -21.88791637092764 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -479.2295132321191, + 435.44574258932226, + -21.88791637092764 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -479.2295132321191, + 438.44574258932226, + -21.88791637092764 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -479.2295132321191, + 441.44574258932226, + -21.88791637092764 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -479.2295132321191, + 444.44574258932226, + -21.88791637092764 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -479.2295132321191, + 447.44574258932226, + -21.88791637092764 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -479.2295132321191, + 450.44574258932226, + -21.88791637092764 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -479.2295132321191, + 453.44574258932226, + -21.88791637092764 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -479.2295132321191, + 456.44574258932226, + -21.88791637092764 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -479.2295132321191, + 459.44574258932226, + -21.88791637092764 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -479.2295132321191, + 462.44574258932226, + -21.88791637092764 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -479.2295132321191, + 465.44574258932226, + -21.88791637092764 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -479.2295132321191, + 468.44574258932226, + -21.88791637092764 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -479.2295132321191, + 471.44574258932226, + -21.88791637092764 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 39, + "pos": [ + -479.2295132321191, + 474.44574258932226, + -21.88791637092764 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 40, + "pos": [ + -479.2295132321191, + 477.44574258932226, + -21.88791637092764 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-23-54_137806862/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-23-54_137806862/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..40ded8d687d81baffc9514756a89266a453ad197 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-23-54_137806862/pose.jsonl @@ -0,0 +1,2278 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -728.5893869961961, + 647.7658735470984, + -1.8834991859565982 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -728.5893869961961, + 644.7658735470984, + -1.8834991859565982 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -728.5893869961961, + 641.7658735470984, + -1.8834991859565982 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -728.5893869961961, + 638.7658735470984, + -1.8834991859565982 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -728.5893869961961, + 635.7658735470984, + -1.8834991859565982 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -728.5893869961961, + 632.7658735470984, + -1.8834991859565982 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -728.5893869961961, + 629.7658735470984, + -1.8834991859565982 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -728.5893869961961, + 626.7658735470984, + -1.8834991859565982 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -728.5893869961961, + 623.7658735470984, + -1.8834991859565982 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -728.5893869961961, + 620.7658735470984, + -1.8834991859565982 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -728.5893869961961, + 617.7658735470984, + -1.8834991859565982 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -728.5893869961961, + 614.7658735470984, + -1.8834991859565982 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -728.5893869961961, + 611.7658735470984, + -1.8834991859565982 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -728.5893869961961, + 608.7658735470984, + -1.8834991859565982 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -728.5893869961961, + 605.7658735470984, + -1.8834991859565982 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -728.5893869961961, + 602.7658735470984, + -1.8834991859565982 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -728.5893869961961, + 599.7658735470984, + -1.8834991859565982 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -728.5893869961961, + 596.7658735470984, + -1.8834991859565982 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -728.5893869961961, + 593.7658735470984, + -1.8834991859565982 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -728.5893869961961, + 590.7658735470984, + -1.8834991859565982 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -728.5893869961961, + 587.7658735470984, + -1.8834991859565982 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -728.5893869961961, + 584.7658735470984, + -1.8834991859565982 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -728.5893869961961, + 584.7658735470984, + -1.8834991859565982 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -730.0893869961961, + 582.167797335745, + -1.8834991859565982 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -731.5893869961961, + 579.5697211243917, + -1.8834991859565982 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -733.0893869961961, + 576.9716449130383, + -1.8834991859565982 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -734.5893869961961, + 574.3735687016849, + -1.8834991859565982 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -736.0893869961961, + 571.7754924903315, + -1.8834991859565982 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -737.5893869961961, + 569.1774162789782, + -1.8834991859565982 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -739.0893869961961, + 566.5793400676248, + -1.8834991859565982 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -740.5893869961961, + 563.9812638562714, + -1.8834991859565982 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -742.0893869961961, + 561.383187644918, + -1.8834991859565982 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -743.5893869961961, + 558.7851114335647, + -1.8834991859565982 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -745.0893869961961, + 556.1870352222113, + -1.8834991859565982 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -746.5893869961961, + 553.5889590108579, + -1.8834991859565982 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -748.0893869961961, + 550.9908827995046, + -1.8834991859565982 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -749.5893869961961, + 548.3928065881512, + -1.8834991859565982 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -751.0893869961961, + 545.7947303767978, + -1.8834991859565982 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -752.5893869961961, + 543.1966541654444, + -1.8834991859565982 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 39, + "pos": [ + -754.0893869961961, + 540.5985779540911, + -1.8834991859565982 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-24-37_982906996/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-24-37_982906996/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1f81458131c8554a35e81a003052f65dcf807ec8 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-24-37_982906996/pose.jsonl @@ -0,0 +1,1222 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -310.513587257851, + 595.7686075643671, + -29.95226381640899 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -313.1116634692043, + 594.2686075643671, + -29.95226381640899 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 2, + "pos": [ + -315.7097396805576, + 592.7686075643671, + -29.95226381640899 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 3, + "pos": [ + -318.30781589191093, + 591.2686075643671, + -29.95226381640899 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 4, + "pos": [ + -320.90589210326425, + 589.7686075643671, + -29.95226381640899 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 5, + "pos": [ + -323.50396831461757, + 588.2686075643671, + -29.95226381640899 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 6, + "pos": [ + -326.1020445259709, + 586.7686075643671, + -29.95226381640899 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -328.7001207373242, + 585.2686075643671, + -29.95226381640899 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -331.2981969486775, + 583.7686075643671, + -29.95226381640899 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -333.89627316003083, + 582.2686075643671, + -29.95226381640899 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -336.49434937138415, + 580.7686075643671, + -29.95226381640899 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -339.09242558273746, + 579.2686075643671, + -29.95226381640899 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -341.6905017940908, + 577.7686075643671, + -29.95226381640899 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -344.2885780054441, + 576.2686075643671, + -29.95226381640899 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -346.8866542167974, + 574.7686075643671, + -29.95226381640899 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -349.4847304281507, + 573.2686075643671, + -29.95226381640899 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -352.08280663950404, + 571.7686075643671, + -29.95226381640899 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -354.68088285085736, + 570.2686075643671, + -29.95226381640899 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -357.2789590622107, + 568.7686075643671, + -29.95226381640899 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -359.877035273564, + 567.2686075643671, + -29.95226381640899 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -362.4751114849173, + 565.7686075643671, + -29.95226381640899 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -362.4751114849173, + 565.7686075643671, + -29.95226381640899 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -363.9751114849173, + 563.1705313530138, + -29.95226381640899 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -365.4751114849173, + 560.5724551416604, + -29.95226381640899 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -366.9751114849173, + 557.974378930307, + -29.95226381640899 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -368.4751114849173, + 555.3763027189536, + -29.95226381640899 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -369.9751114849173, + 552.7782265076003, + -29.95226381640899 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -371.4751114849173, + 550.1801502962469, + -29.95226381640899 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -372.9751114849173, + 547.5820740848935, + -29.95226381640899 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -374.4751114849173, + 544.9839978735401, + -29.95226381640899 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -375.9751114849173, + 542.3859216621868, + -29.95226381640899 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -377.4751114849173, + 539.7878454508334, + -29.95226381640899 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -378.9751114849173, + 537.18976923948, + -29.95226381640899 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -380.4751114849173, + 534.5916930281267, + -29.95226381640899 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -381.9751114849173, + 531.9936168167733, + -29.95226381640899 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -383.4751114849173, + 529.3955406054199, + -29.95226381640899 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -384.9751114849173, + 526.7974643940665, + -29.95226381640899 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -386.4751114849173, + 524.1993881827132, + -29.95226381640899 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -387.9751114849173, + 521.6013119713598, + -29.95226381640899 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 39, + "pos": [ + -389.4751114849173, + 519.0032357600064, + -29.95226381640899 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 40, + "pos": [ + -390.9751114849173, + 516.405159548653, + -29.95226381640899 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-29-19_939819582/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-29-19_939819582/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8b43547bf4ad9eea9de786c5782ce02ecaa255b6 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-29-19_939819582/pose.jsonl @@ -0,0 +1,1728 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -739.3092541945852, + 773.5081882979648, + -21.889309300210993 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -739.3092541945852, + 770.5081882979648, + -21.889309300210993 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -739.3092541945852, + 767.5081882979648, + -21.889309300210993 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -739.3092541945852, + 764.5081882979648, + -21.889309300210993 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -739.3092541945852, + 761.5081882979648, + -21.889309300210993 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -739.3092541945852, + 758.5081882979648, + -21.889309300210993 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -739.3092541945852, + 755.5081882979648, + -21.889309300210993 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -739.3092541945852, + 752.5081882979648, + -21.889309300210993 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -739.3092541945852, + 749.5081882979648, + -21.889309300210993 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -739.3092541945852, + 746.5081882979648, + -21.889309300210993 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -739.3092541945852, + 743.5081882979648, + -21.889309300210993 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -739.3092541945852, + 740.5081882979648, + -21.889309300210993 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -739.3092541945852, + 737.5081882979648, + -21.889309300210993 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -739.3092541945852, + 734.5081882979648, + -21.889309300210993 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -739.3092541945852, + 731.5081882979648, + -21.889309300210993 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -739.3092541945852, + 728.5081882979648, + -21.889309300210993 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -739.3092541945852, + 725.5081882979648, + -21.889309300210993 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -739.3092541945852, + 722.5081882979648, + -21.889309300210993 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -739.3092541945852, + 719.5081882979648, + -21.889309300210993 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -739.3092541945852, + 716.5081882979648, + -21.889309300210993 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -739.3092541945852, + 713.5081882979648, + -21.889309300210993 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -739.3092541945852, + 710.5081882979648, + -21.889309300210993 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -739.3092541945852, + 707.5081882979648, + -21.889309300210993 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -739.3092541945852, + 704.5081882979648, + -21.889309300210993 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -739.3092541945852, + 701.5081882979648, + -21.889309300210993 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -739.3092541945852, + 698.5081882979648, + -21.889309300210993 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -739.3092541945852, + 695.5081882979648, + -21.889309300210993 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -739.3092541945852, + 692.5081882979648, + -21.889309300210993 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -739.3092541945852, + 689.5081882979648, + -21.889309300210993 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -739.3092541945852, + 686.5081882979648, + -21.889309300210993 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -739.3092541945852, + 683.5081882979648, + -21.889309300210993 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -739.3092541945852, + 680.5081882979648, + -21.889309300210993 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -739.3092541945852, + 680.5081882979648, + -21.889309300210993 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -737.8092541945852, + 677.9101120866114, + -21.889309300210993 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -736.3092541945852, + 675.3120358752581, + -21.889309300210993 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -734.8092541945852, + 672.7139596639047, + -21.889309300210993 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -733.3092541945852, + 670.1158834525513, + -21.889309300210993 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -731.8092541945852, + 667.5178072411979, + -21.889309300210993 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-33-43_709393584/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-33-43_709393584/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b636b609d15face927894ee14eb774b801e03b3d --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-33-43_709393584/pose.jsonl @@ -0,0 +1,1410 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 187.62714824715454, + 111.47738433683344, + -9.428760996796264 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + 185.02907203580122, + 112.97738433683344, + -9.428760996796264 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + 182.4309958244479, + 114.47738433683344, + -9.428760996796264 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + 179.8329196130946, + 115.97738433683344, + -9.428760996796264 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + 177.23484340174127, + 117.47738433683344, + -9.428760996796264 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + 174.63676719038796, + 118.97738433683344, + -9.428760996796264 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + 172.03869097903464, + 120.47738433683344, + -9.428760996796264 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 7, + "pos": [ + 169.44061476768132, + 121.97738433683344, + -9.428760996796264 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + 166.842538556328, + 123.47738433683344, + -9.428760996796264 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + 164.2444623449747, + 124.97738433683344, + -9.428760996796264 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + 161.64638613362138, + 126.47738433683344, + -9.428760996796264 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + 159.04830992226806, + 127.97738433683344, + -9.428760996796264 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + 156.45023371091474, + 129.47738433683344, + -9.428760996796264 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + 153.85215749956143, + 130.97738433683344, + -9.428760996796264 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + 151.2540812882081, + 132.47738433683344, + -9.428760996796264 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + 148.6560050768548, + 133.97738433683344, + -9.428760996796264 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + 146.05792886550148, + 135.47738433683344, + -9.428760996796264 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + 143.45985265414816, + 136.97738433683344, + -9.428760996796264 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + 140.86177644279485, + 138.47738433683344, + -9.428760996796264 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + 138.26370023144153, + 139.97738433683344, + -9.428760996796264 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + 135.66562402008822, + 141.47738433683344, + -9.428760996796264 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + 133.0675478087349, + 142.97738433683344, + -9.428760996796264 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + 130.46947159738158, + 144.47738433683344, + -9.428760996796264 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + 127.87139538602827, + 145.97738433683344, + -9.428760996796264 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + 125.27331917467495, + 147.47738433683344, + -9.428760996796264 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + 122.67524296332164, + 148.97738433683344, + -9.428760996796264 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + 122.67524296332164, + 148.97738433683344, + -9.428760996796264 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + 119.67524296332164, + 148.97738433683344, + -9.428760996796264 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + 116.67524296332164, + 148.97738433683344, + -9.428760996796264 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + 113.67524296332164, + 148.97738433683344, + -9.428760996796264 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + 110.67524296332164, + 148.97738433683344, + -9.428760996796264 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + 107.67524296332164, + 148.97738433683344, + -9.428760996796264 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + 104.67524296332164, + 148.97738433683344, + -9.428760996796264 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + 101.67524296332164, + 148.97738433683344, + -9.428760996796264 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + 98.67524296332164, + 148.97738433683344, + -9.428760996796264 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + 95.67524296332164, + 148.97738433683344, + -9.428760996796264 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + 92.67524296332164, + 148.97738433683344, + -9.428760996796264 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + 89.67524296332164, + 148.97738433683344, + -9.428760996796264 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + 86.67524296332164, + 148.97738433683344, + -9.428760996796264 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 39, + "pos": [ + 83.67524296332164, + 148.97738433683344, + -9.428760996796264 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 40, + "pos": [ + 80.67524296332164, + 148.97738433683344, + -9.428760996796264 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 41, + "pos": [ + 77.67524296332164, + 148.97738433683344, + -9.428760996796264 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-35-43_1264095060/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-35-43_1264095060/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..320686496b101409280b6db4ea0aa5b7a3d07b13 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-35-43_1264095060/pose.jsonl @@ -0,0 +1,2237 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -291.47808409829446, + 677.9260401053899, + -12.588700418332348 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -291.47808409829446, + 674.9260401053899, + -12.588700418332348 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -291.47808409829446, + 671.9260401053899, + -12.588700418332348 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -291.47808409829446, + 668.9260401053899, + -12.588700418332348 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -291.47808409829446, + 665.9260401053899, + -12.588700418332348 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -291.47808409829446, + 662.9260401053899, + -12.588700418332348 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -291.47808409829446, + 659.9260401053899, + -12.588700418332348 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -291.47808409829446, + 656.9260401053899, + -12.588700418332348 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -291.47808409829446, + 653.9260401053899, + -12.588700418332348 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -291.47808409829446, + 650.9260401053899, + -12.588700418332348 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -291.47808409829446, + 647.9260401053899, + -12.588700418332348 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -291.47808409829446, + 644.9260401053899, + -12.588700418332348 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -291.47808409829446, + 641.9260401053899, + -12.588700418332348 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -291.47808409829446, + 638.9260401053899, + -12.588700418332348 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -291.47808409829446, + 635.9260401053899, + -12.588700418332348 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -291.47808409829446, + 632.9260401053899, + -12.588700418332348 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -291.47808409829446, + 629.9260401053899, + -12.588700418332348 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -291.47808409829446, + 626.9260401053899, + -12.588700418332348 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -291.47808409829446, + 623.9260401053899, + -12.588700418332348 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -291.47808409829446, + 620.9260401053899, + -12.588700418332348 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -291.47808409829446, + 617.9260401053899, + -12.588700418332348 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -291.47808409829446, + 614.9260401053899, + -12.588700418332348 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -291.47808409829446, + 611.9260401053899, + -12.588700418332348 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -291.47808409829446, + 608.9260401053899, + -12.588700418332348 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -291.47808409829446, + 605.9260401053899, + -12.588700418332348 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -291.47808409829446, + 602.9260401053899, + -12.588700418332348 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -291.47808409829446, + 599.9260401053899, + -12.588700418332348 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -291.47808409829446, + 596.9260401053899, + -12.588700418332348 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -291.47808409829446, + 593.9260401053899, + -12.588700418332348 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -291.47808409829446, + 590.9260401053899, + -12.588700418332348 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -291.47808409829446, + 587.9260401053899, + -12.588700418332348 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -291.47808409829446, + 584.9260401053899, + -12.588700418332348 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -291.47808409829446, + 584.9260401053899, + -12.588700418332348 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -289.97808409829446, + 582.3279638940367, + -12.588700418332348 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -288.47808409829446, + 579.7298876826833, + -12.588700418332348 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -286.97808409829446, + 577.1318114713299, + -12.588700418332348 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -285.47808409829446, + 574.5337352599765, + -12.588700418332348 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -283.97808409829446, + 571.9356590486232, + -12.588700418332348 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -282.47808409829446, + 569.3375828372698, + -12.588700418332348 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-43-14_485560280/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-43-14_485560280/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..34dead1c48b075aef35662298abf81d0b49e146e --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-43-14_485560280/pose.jsonl @@ -0,0 +1,1439 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -405.9364237373494, + 773.7644989777752, + -1.3815383360513493 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -405.9364237373494, + 770.7644989777752, + -1.3815383360513493 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -405.9364237373494, + 767.7644989777752, + -1.3815383360513493 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -405.9364237373494, + 764.7644989777752, + -1.3815383360513493 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -405.9364237373494, + 761.7644989777752, + -1.3815383360513493 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -405.9364237373494, + 758.7644989777752, + -1.3815383360513493 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -405.9364237373494, + 755.7644989777752, + -1.3815383360513493 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -405.9364237373494, + 752.7644989777752, + -1.3815383360513493 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -405.9364237373494, + 749.7644989777752, + -1.3815383360513493 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -405.9364237373494, + 746.7644989777752, + -1.3815383360513493 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -405.9364237373494, + 743.7644989777752, + -1.3815383360513493 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -405.9364237373494, + 740.7644989777752, + -1.3815383360513493 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -405.9364237373494, + 737.7644989777752, + -1.3815383360513493 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -405.9364237373494, + 734.7644989777752, + -1.3815383360513493 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -405.9364237373494, + 731.7644989777752, + -1.3815383360513493 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -405.9364237373494, + 728.7644989777752, + -1.3815383360513493 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -405.9364237373494, + 725.7644989777752, + -1.3815383360513493 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -405.9364237373494, + 722.7644989777752, + -1.3815383360513493 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -405.9364237373494, + 719.7644989777752, + -1.3815383360513493 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -405.9364237373494, + 716.7644989777752, + -1.3815383360513493 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -405.9364237373494, + 713.7644989777752, + -1.3815383360513493 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -405.9364237373494, + 713.7644989777752, + -1.3815383360513493 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -407.4364237373494, + 711.1664227664219, + -1.3815383360513493 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -408.9364237373494, + 708.5683465550685, + -1.3815383360513493 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -410.4364237373494, + 705.9702703437151, + -1.3815383360513493 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -411.9364237373494, + 703.3721941323618, + -1.3815383360513493 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -413.4364237373494, + 700.7741179210084, + -1.3815383360513493 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -414.9364237373494, + 698.176041709655, + -1.3815383360513493 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -414.9364237373494, + 698.176041709655, + -1.3815383360513493 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -414.9364237373494, + 695.176041709655, + -1.3815383360513493 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-45-34_221558440/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-45-34_221558440/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3473c394cad6ca2c8b30f26fa3a1ca37a169f9f4 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-45-34_221558440/pose.jsonl @@ -0,0 +1,1815 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -411.8481129333103, + 751.5627744405921, + -27.33475642424102 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [] +} +{ + "action": { + "imageid": 1, + "pos": [ + -409.250036721957, + 750.0627744405921, + -27.33475642424102 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [] +} +{ + "action": { + "imageid": 2, + "pos": [ + -406.65196051060366, + 748.5627744405921, + -27.33475642424102 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -404.05388429925034, + 747.0627744405921, + -27.33475642424102 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -401.455808087897, + 745.5627744405921, + -27.33475642424102 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -398.8577318765437, + 744.0627744405921, + -27.33475642424102 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -396.2596556651904, + 742.5627744405921, + -27.33475642424102 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -393.6615794538371, + 741.0627744405921, + -27.33475642424102 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -391.06350324248376, + 739.5627744405921, + -27.33475642424102 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -388.46542703113045, + 738.0627744405921, + -27.33475642424102 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -385.86735081977713, + 736.5627744405921, + -27.33475642424102 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -383.2692746084238, + 735.0627744405921, + -27.33475642424102 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -380.6711983970705, + 733.5627744405921, + -27.33475642424102 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -378.0731221857172, + 732.0627744405921, + -27.33475642424102 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -375.47504597436387, + 730.5627744405921, + -27.33475642424102 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -372.87696976301055, + 729.0627744405921, + -27.33475642424102 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -370.27889355165723, + 727.5627744405921, + -27.33475642424102 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -367.6808173403039, + 726.0627744405921, + -27.33475642424102 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -365.0827411289506, + 724.5627744405921, + -27.33475642424102 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -362.4846649175973, + 723.0627744405921, + -27.33475642424102 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -359.88658870624397, + 721.5627744405921, + -27.33475642424102 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -357.28851249489065, + 720.0627744405921, + -27.33475642424102 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -354.69043628353734, + 718.5627744405921, + -27.33475642424102 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -352.092360072184, + 717.0627744405921, + -27.33475642424102 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -352.092360072184, + 717.0627744405921, + -27.33475642424102 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -350.592360072184, + 714.4646982292388, + -27.33475642424102 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -349.092360072184, + 711.8666220178854, + -27.33475642424102 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -347.592360072184, + 709.2685458065321, + -27.33475642424102 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -346.092360072184, + 706.6704695951787, + -27.33475642424102 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -344.592360072184, + 704.0723933838253, + -27.33475642424102 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -343.092360072184, + 701.474317172472, + -27.33475642424102 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -341.592360072184, + 698.8762409611186, + -27.33475642424102 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -340.092360072184, + 696.2781647497652, + -27.33475642424102 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -338.592360072184, + 693.6800885384118, + -27.33475642424102 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -337.092360072184, + 691.0820123270585, + -27.33475642424102 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -335.592360072184, + 688.4839361157051, + -27.33475642424102 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -334.092360072184, + 685.8858599043517, + -27.33475642424102 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-51-58_1600028624/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-51-58_1600028624/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0e639185d819826deb0e702e1117c105ba80f801 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-51-58_1600028624/pose.jsonl @@ -0,0 +1,1153 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -148.56033558308167, + 568.5757487465208, + -25.694119072891716 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -151.15841179443498, + 567.0757487465208, + -25.694119072891716 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -153.7564880057883, + 565.5757487465208, + -25.694119072891716 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -156.35456421714161, + 564.0757487465208, + -25.694119072891716 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -158.95264042849493, + 562.5757487465208, + -25.694119072891716 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -161.55071663984825, + 561.0757487465208, + -25.694119072891716 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -164.14879285120156, + 559.5757487465208, + -25.694119072891716 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -166.74686906255488, + 558.0757487465208, + -25.694119072891716 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -169.3449452739082, + 556.5757487465208, + -25.694119072891716 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -171.9430214852615, + 555.0757487465208, + -25.694119072891716 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -174.54109769661483, + 553.5757487465208, + -25.694119072891716 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -177.13917390796814, + 552.0757487465208, + -25.694119072891716 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -179.73725011932146, + 550.5757487465208, + -25.694119072891716 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -182.33532633067477, + 549.0757487465208, + -25.694119072891716 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -184.9334025420281, + 547.5757487465208, + -25.694119072891716 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -187.5314787533814, + 546.0757487465208, + -25.694119072891716 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -190.12955496473472, + 544.5757487465208, + -25.694119072891716 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -192.72763117608804, + 543.0757487465208, + -25.694119072891716 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -195.32570738744135, + 541.5757487465208, + -25.694119072891716 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -197.92378359879467, + 540.0757487465208, + -25.694119072891716 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -200.521859810148, + 538.5757487465208, + -25.694119072891716 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -203.1199360215013, + 537.0757487465208, + -25.694119072891716 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -205.71801223285462, + 535.5757487465208, + -25.694119072891716 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -208.31608844420794, + 534.0757487465208, + -25.694119072891716 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 24, + "pos": [ + -208.31608844420794, + 534.0757487465208, + -25.694119072891716 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 25, + "pos": [ + -211.31608844420794, + 534.0757487465208, + -25.694119072891716 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -214.31608844420794, + 534.0757487465208, + -25.694119072891716 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -217.31608844420794, + 534.0757487465208, + -25.694119072891716 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -220.31608844420794, + 534.0757487465208, + -25.694119072891716 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -223.31608844420794, + 534.0757487465208, + -25.694119072891716 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -226.31608844420794, + 534.0757487465208, + -25.694119072891716 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-56-55_1117142618/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-56-55_1117142618/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c165cd44bc0c8b957cf32b1792fb74cacd1c3be3 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-56-55_1117142618/pose.jsonl @@ -0,0 +1,1129 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -131.96676453002607, + 572.3902872404399, + -19.286046981602375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [] +} +{ + "action": { + "imageid": 1, + "pos": [ + -130.46676453002607, + 569.7922110290865, + -19.286046981602375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [] +} +{ + "action": { + "imageid": 2, + "pos": [ + -128.96676453002607, + 567.1941348177331, + -19.286046981602375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [] +} +{ + "action": { + "imageid": 3, + "pos": [ + -127.46676453002607, + 564.5960586063798, + -19.286046981602375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [] +} +{ + "action": { + "imageid": 4, + "pos": [ + -125.96676453002607, + 561.9979823950264, + -19.286046981602375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [] +} +{ + "action": { + "imageid": 5, + "pos": [ + -124.46676453002607, + 559.399906183673, + -19.286046981602375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [] +} +{ + "action": { + "imageid": 6, + "pos": [ + -122.96676453002607, + 556.8018299723196, + -19.286046981602375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -121.46676453002607, + 554.2037537609663, + -19.286046981602375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -119.96676453002607, + 551.6056775496129, + -19.286046981602375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -118.46676453002607, + 549.0076013382595, + -19.286046981602375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -116.96676453002607, + 546.4095251269061, + -19.286046981602375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -115.46676453002607, + 543.8114489155528, + -19.286046981602375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -113.96676453002607, + 541.2133727041994, + -19.286046981602375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -112.46676453002607, + 538.615296492846, + -19.286046981602375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -110.96676453002607, + 536.0172202814927, + -19.286046981602375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -109.46676453002607, + 533.4191440701393, + -19.286046981602375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -107.96676453002607, + 530.8210678587859, + -19.286046981602375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -106.46676453002607, + 528.2229916474325, + -19.286046981602375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -104.96676453002607, + 525.6249154360792, + -19.286046981602375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -103.46676453002607, + 523.0268392247258, + -19.286046981602375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -101.96676453002607, + 520.4287630133724, + -19.286046981602375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -100.46676453002607, + 517.830686802019, + -19.286046981602375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -98.96676453002607, + 515.2326105906657, + -19.286046981602375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -97.46676453002607, + 512.6345343793123, + -19.286046981602375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -95.96676453002607, + 510.036458167959, + -19.286046981602375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -94.46676453002607, + 507.43838195660567, + -19.286046981602375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -92.96676453002607, + 504.84030574525235, + -19.286046981602375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -91.46676453002607, + 502.24222953389904, + -19.286046981602375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -89.96676453002607, + 499.6441533225457, + -19.286046981602375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -88.46676453002607, + 497.0460771111924, + -19.286046981602375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -86.96676453002607, + 494.4480008998391, + -19.286046981602375 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -86.96676453002607, + 494.4480008998391, + -19.286046981602375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -86.96676453002607, + 491.4480008998391, + -19.286046981602375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -86.96676453002607, + 488.4480008998391, + -19.286046981602375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -86.96676453002607, + 485.4480008998391, + -19.286046981602375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -86.96676453002607, + 482.4480008998391, + -19.286046981602375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -86.96676453002607, + 479.4480008998391, + -19.286046981602375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -86.96676453002607, + 476.4480008998391, + -19.286046981602375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -86.96676453002607, + 473.4480008998391, + -19.286046981602375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 39, + "pos": [ + -86.96676453002607, + 470.4480008998391, + -19.286046981602375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 40, + "pos": [ + -86.96676453002607, + 467.4480008998391, + -19.286046981602375 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + }, + "objects": [] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-6-33_424238335/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-6-33_424238335/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5055af480b56237a0cf9615170ba364be12fcd51 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-6-33_424238335/pose.jsonl @@ -0,0 +1,2155 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -244.34344491712497, + 444.30260543650553, + -26.982108132550042 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -244.34344491712497, + 447.30260543650553, + -26.982108132550042 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -244.34344491712497, + 450.30260543650553, + -26.982108132550042 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -244.34344491712497, + 453.30260543650553, + -26.982108132550042 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -244.34344491712497, + 456.30260543650553, + -26.982108132550042 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -244.34344491712497, + 459.30260543650553, + -26.982108132550042 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -244.34344491712497, + 462.30260543650553, + -26.982108132550042 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -244.34344491712497, + 465.30260543650553, + -26.982108132550042 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -244.34344491712497, + 468.30260543650553, + -26.982108132550042 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -244.34344491712497, + 471.30260543650553, + -26.982108132550042 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -244.34344491712497, + 474.30260543650553, + -26.982108132550042 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -244.34344491712497, + 477.30260543650553, + -26.982108132550042 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -244.34344491712497, + 480.30260543650553, + -26.982108132550042 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -244.34344491712497, + 483.30260543650553, + -26.982108132550042 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -244.34344491712497, + 486.30260543650553, + -26.982108132550042 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -244.34344491712497, + 489.30260543650553, + -26.982108132550042 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -244.34344491712497, + 492.30260543650553, + -26.982108132550042 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -244.34344491712497, + 495.30260543650553, + -26.982108132550042 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -244.34344491712497, + 498.30260543650553, + -26.982108132550042 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -244.34344491712497, + 501.30260543650553, + -26.982108132550042 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -244.34344491712497, + 504.30260543650553, + -26.982108132550042 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -244.34344491712497, + 507.30260543650553, + -26.982108132550042 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -244.34344491712497, + 510.30260543650553, + -26.982108132550042 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -244.34344491712497, + 513.3026054365055, + -26.982108132550042 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -244.34344491712497, + 516.3026054365055, + -26.982108132550042 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -244.34344491712497, + 519.3026054365055, + -26.982108132550042 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -244.34344491712497, + 522.3026054365055, + -26.982108132550042 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -244.34344491712497, + 525.3026054365055, + -26.982108132550042 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -244.34344491712497, + 528.3026054365055, + -26.982108132550042 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -244.34344491712497, + 528.3026054365055, + -26.982108132550042 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -245.84344491712497, + 530.9006816478588, + -26.982108132550042 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -247.34344491712497, + 533.4987578592122, + -26.982108132550042 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -248.84344491712497, + 536.0968340705656, + -26.982108132550042 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -250.34344491712497, + 538.694910281919, + -26.982108132550042 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -251.84344491712497, + 541.2929864932723, + -26.982108132550042 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -253.34344491712497, + 543.8910627046257, + -26.982108132550042 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -254.84344491712497, + 546.4891389159791, + -26.982108132550042 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-7-15_1649760492/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-7-15_1649760492/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..53ce9af5f2697a77207e3fa2e57007f2cf9f46dc --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-7-15_1649760492/pose.jsonl @@ -0,0 +1,1809 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -698.9636699971107, + 523.2375963202885, + -23.453943556780445 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -695.9636699971107, + 523.2375963202885, + -23.453943556780445 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -692.9636699971107, + 523.2375963202885, + -23.453943556780445 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -689.9636699971107, + 523.2375963202885, + -23.453943556780445 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [] +} +{ + "action": { + "imageid": 4, + "pos": [ + -686.9636699971107, + 523.2375963202885, + -23.453943556780445 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -683.9636699971107, + 523.2375963202885, + -23.453943556780445 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -680.9636699971107, + 523.2375963202885, + -23.453943556780445 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -677.9636699971107, + 523.2375963202885, + -23.453943556780445 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -674.9636699971107, + 523.2375963202885, + -23.453943556780445 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -671.9636699971107, + 523.2375963202885, + -23.453943556780445 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -668.9636699971107, + 523.2375963202885, + -23.453943556780445 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -665.9636699971107, + 523.2375963202885, + -23.453943556780445 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -662.9636699971107, + 523.2375963202885, + -23.453943556780445 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -659.9636699971107, + 523.2375963202885, + -23.453943556780445 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -656.9636699971107, + 523.2375963202885, + -23.453943556780445 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -653.9636699971107, + 523.2375963202885, + -23.453943556780445 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -650.9636699971107, + 523.2375963202885, + -23.453943556780445 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -647.9636699971107, + 523.2375963202885, + -23.453943556780445 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -644.9636699971107, + 523.2375963202885, + -23.453943556780445 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -641.9636699971107, + 523.2375963202885, + -23.453943556780445 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -638.9636699971107, + 523.2375963202885, + -23.453943556780445 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -635.9636699971107, + 523.2375963202885, + -23.453943556780445 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -632.9636699971107, + 523.2375963202885, + -23.453943556780445 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -629.9636699971107, + 523.2375963202885, + -23.453943556780445 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -626.9636699971107, + 523.2375963202885, + -23.453943556780445 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -623.9636699971107, + 523.2375963202885, + -23.453943556780445 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -620.9636699971107, + 523.2375963202885, + -23.453943556780445 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -617.9636699971107, + 523.2375963202885, + -23.453943556780445 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -614.9636699971107, + 523.2375963202885, + -23.453943556780445 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -611.9636699971107, + 523.2375963202885, + -23.453943556780445 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -608.9636699971107, + 523.2375963202885, + -23.453943556780445 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -605.9636699971107, + 523.2375963202885, + -23.453943556780445 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -602.9636699971107, + 523.2375963202885, + -23.453943556780445 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -599.9636699971107, + 523.2375963202885, + -23.453943556780445 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -599.9636699971107, + 523.2375963202885, + -23.453943556780445 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -597.3655937857575, + 521.7375963202885, + -23.453943556780445 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -594.7675175744041, + 520.2375963202885, + -23.453943556780445 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -592.1694413630507, + 518.7375963202885, + -23.453943556780445 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -589.5713651516974, + 517.2375963202885, + -23.453943556780445 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 39, + "pos": [ + -586.973288940344, + 515.7375963202885, + -23.453943556780445 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_21-0-37_438792350/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_21-0-37_438792350/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5cd8a4c7f486879e05a9deff71619122d126d0c3 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_21-0-37_438792350/pose.jsonl @@ -0,0 +1,1663 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -578.3352436184797, + 818.281184614899, + -9.111761326495653 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -579.8352436184797, + 815.6831084035457, + -9.111761326495653 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -581.3352436184797, + 813.0850321921923, + -9.111761326495653 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -582.8352436184797, + 810.486955980839, + -9.111761326495653 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -584.3352436184797, + 807.8888797694856, + -9.111761326495653 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -585.8352436184797, + 805.2908035581322, + -9.111761326495653 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -587.3352436184797, + 802.6927273467788, + -9.111761326495653 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -588.8352436184797, + 800.0946511354255, + -9.111761326495653 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -590.3352436184797, + 797.4965749240721, + -9.111761326495653 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -591.8352436184797, + 794.8984987127187, + -9.111761326495653 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -593.3352436184797, + 792.3004225013653, + -9.111761326495653 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -594.8352436184797, + 789.702346290012, + -9.111761326495653 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -596.3352436184797, + 787.1042700786586, + -9.111761326495653 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -597.8352436184797, + 784.5061938673052, + -9.111761326495653 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -599.3352436184797, + 781.9081176559519, + -9.111761326495653 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -600.8352436184797, + 779.3100414445985, + -9.111761326495653 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -602.3352436184797, + 776.7119652332451, + -9.111761326495653 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -603.8352436184797, + 774.1138890218917, + -9.111761326495653 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -603.8352436184797, + 774.1138890218917, + -9.111761326495653 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -606.433319829833, + 772.6138890218917, + -9.111761326495653 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -609.0313960411863, + 771.1138890218917, + -9.111761326495653 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -611.6294722525397, + 769.6138890218917, + -9.111761326495653 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -614.2275484638931, + 768.1138890218917, + -9.111761326495653 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -616.8256246752464, + 766.6138890218917, + -9.111761326495653 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -619.4237008865998, + 765.1138890218917, + -9.111761326495653 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -622.0217770979532, + 763.6138890218917, + -9.111761326495653 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -624.6198533093066, + 762.1138890218917, + -9.111761326495653 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -627.2179295206599, + 760.6138890218917, + -9.111761326495653 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -629.8160057320133, + 759.1138890218917, + -9.111761326495653 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -632.4140819433667, + 757.6138890218917, + -9.111761326495653 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -635.01215815472, + 756.1138890218917, + -9.111761326495653 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -637.6102343660734, + 754.6138890218917, + -9.111761326495653 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -640.2083105774268, + 753.1138890218917, + -9.111761326495653 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -642.8063867887802, + 751.6138890218917, + -9.111761326495653 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -645.4044630001335, + 750.1138890218917, + -9.111761326495653 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -648.0025392114869, + 748.6138890218917, + -9.111761326495653 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -650.6006154228403, + 747.1138890218917, + -9.111761326495653 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -653.1986916341937, + 745.6138890218917, + -9.111761326495653 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_21-1-39_2142757034/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_21-1-39_2142757034/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0acd4ea1eb2e64c3af9777ad09aa32c90f2484c7 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_21-1-39_2142757034/pose.jsonl @@ -0,0 +1,1715 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -320.35671778295483, + 553.7075214413642, + -14.459420031825884 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 1, + "pos": [ + -323.35671778295483, + 553.7075214413642, + -14.459420031825884 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 2, + "pos": [ + -326.35671778295483, + 553.7075214413642, + -14.459420031825884 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 3, + "pos": [ + -329.35671778295483, + 553.7075214413642, + -14.459420031825884 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 4, + "pos": [ + -332.35671778295483, + 553.7075214413642, + -14.459420031825884 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -335.35671778295483, + 553.7075214413642, + -14.459420031825884 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -338.35671778295483, + 553.7075214413642, + -14.459420031825884 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -341.35671778295483, + 553.7075214413642, + -14.459420031825884 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -344.35671778295483, + 553.7075214413642, + -14.459420031825884 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -347.35671778295483, + 553.7075214413642, + -14.459420031825884 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -350.35671778295483, + 553.7075214413642, + -14.459420031825884 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -353.35671778295483, + 553.7075214413642, + -14.459420031825884 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -356.35671778295483, + 553.7075214413642, + -14.459420031825884 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -359.35671778295483, + 553.7075214413642, + -14.459420031825884 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -362.35671778295483, + 553.7075214413642, + -14.459420031825884 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -365.35671778295483, + 553.7075214413642, + -14.459420031825884 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -368.35671778295483, + 553.7075214413642, + -14.459420031825884 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -371.35671778295483, + 553.7075214413642, + -14.459420031825884 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -374.35671778295483, + 553.7075214413642, + -14.459420031825884 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -377.35671778295483, + 553.7075214413642, + -14.459420031825884 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -380.35671778295483, + 553.7075214413642, + -14.459420031825884 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -383.35671778295483, + 553.7075214413642, + -14.459420031825884 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -386.35671778295483, + 553.7075214413642, + -14.459420031825884 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -389.35671778295483, + 553.7075214413642, + -14.459420031825884 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -392.35671778295483, + 553.7075214413642, + -14.459420031825884 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -395.35671778295483, + 553.7075214413642, + -14.459420031825884 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -398.35671778295483, + 553.7075214413642, + -14.459420031825884 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -398.35671778295483, + 553.7075214413642, + -14.459420031825884 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -400.95479399430815, + 555.2075214413642, + -14.459420031825884 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -403.55287020566146, + 556.7075214413642, + -14.459420031825884 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -406.1509464170148, + 558.2075214413642, + -14.459420031825884 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -408.7490226283681, + 559.7075214413642, + -14.459420031825884 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -411.3470988397214, + 561.2075214413642, + -14.459420031825884 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -413.9451750510747, + 562.7075214413642, + -14.459420031825884 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -416.54325126242804, + 564.2075214413642, + -14.459420031825884 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -419.14132747378136, + 565.7075214413642, + -14.459420031825884 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -421.7394036851347, + 567.2075214413642, + -14.459420031825884 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -424.337479896488, + 568.7075214413642, + -14.459420031825884 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -426.9355561078413, + 570.2075214413642, + -14.459420031825884 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 39, + "pos": [ + -429.5336323191946, + 571.7075214413642, + -14.459420031825884 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_21-11-43_1875335928/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_21-11-43_1875335928/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..391d49309aac336856b1674fa969e28794c97c9a --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_21-11-43_1875335928/pose.jsonl @@ -0,0 +1,1765 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -161.80960070491574, + 515.3229690909861, + -21.293780087598133 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -163.30960070491574, + 517.9210453023395, + -21.293780087598133 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -164.80960070491574, + 520.5191215136929, + -21.293780087598133 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -166.30960070491574, + 523.1171977250463, + -21.293780087598133 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -167.80960070491574, + 525.7152739363996, + -21.293780087598133 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -169.30960070491574, + 528.313350147753, + -21.293780087598133 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -170.80960070491574, + 530.9114263591064, + -21.293780087598133 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -172.30960070491574, + 533.5095025704597, + -21.293780087598133 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -173.80960070491574, + 536.1075787818131, + -21.293780087598133 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -175.30960070491574, + 538.7056549931665, + -21.293780087598133 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -176.80960070491574, + 541.3037312045199, + -21.293780087598133 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -178.30960070491574, + 543.9018074158732, + -21.293780087598133 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -179.80960070491574, + 546.4998836272266, + -21.293780087598133 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -181.30960070491574, + 549.09795983858, + -21.293780087598133 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -182.80960070491574, + 551.6960360499334, + -21.293780087598133 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -184.30960070491574, + 554.2941122612867, + -21.293780087598133 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -185.80960070491574, + 556.8921884726401, + -21.293780087598133 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -187.30960070491574, + 559.4902646839935, + -21.293780087598133 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -188.80960070491574, + 562.0883408953468, + -21.293780087598133 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -190.30960070491574, + 564.6864171067002, + -21.293780087598133 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -191.80960070491574, + 567.2844933180536, + -21.293780087598133 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -193.30960070491574, + 569.882569529407, + -21.293780087598133 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -194.80960070491574, + 572.4806457407603, + -21.293780087598133 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -194.80960070491574, + 572.4806457407603, + -21.293780087598133 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -197.40767691626905, + 573.9806457407603, + -21.293780087598133 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -200.00575312762237, + 575.4806457407603, + -21.293780087598133 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -202.6038293389757, + 576.9806457407603, + -21.293780087598133 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -205.201905550329, + 578.4806457407603, + -21.293780087598133 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -207.79998176168232, + 579.9806457407603, + -21.293780087598133 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -210.39805797303563, + 581.4806457407603, + -21.293780087598133 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -212.99613418438895, + 582.9806457407603, + -21.293780087598133 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -215.59421039574227, + 584.4806457407603, + -21.293780087598133 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -218.19228660709558, + 585.9806457407603, + -21.293780087598133 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -220.7903628184489, + 587.4806457407603, + -21.293780087598133 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -223.3884390298022, + 588.9806457407603, + -21.293780087598133 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -225.98651524115553, + 590.4806457407603, + -21.293780087598133 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -228.58459145250885, + 591.9806457407603, + -21.293780087598133 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_21-17-59_706043324/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_21-17-59_706043324/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7956f173648c9446f542aeb75d9b2e175bd06ff5 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_21-17-59_706043324/pose.jsonl @@ -0,0 +1,1205 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 36.57954216486394, + 238.42545661088226, + -21.648421885135384 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + 39.57954216486394, + 238.42545661088226, + -21.648421885135384 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + 42.57954216486394, + 238.42545661088226, + -21.648421885135384 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + 45.57954216486394, + 238.42545661088226, + -21.648421885135384 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + 48.57954216486394, + 238.42545661088226, + -21.648421885135384 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + 51.57954216486394, + 238.42545661088226, + -21.648421885135384 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + 54.57954216486394, + 238.42545661088226, + -21.648421885135384 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + 57.57954216486394, + 238.42545661088226, + -21.648421885135384 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + 60.57954216486394, + 238.42545661088226, + -21.648421885135384 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + 63.57954216486394, + 238.42545661088226, + -21.648421885135384 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + 66.57954216486394, + 238.42545661088226, + -21.648421885135384 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + 69.57954216486394, + 238.42545661088226, + -21.648421885135384 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + 72.57954216486394, + 238.42545661088226, + -21.648421885135384 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + 75.57954216486394, + 238.42545661088226, + -21.648421885135384 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 176.12223529815674, + 236.40146827697754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + 78.57954216486394, + 238.42545661088226, + -21.648421885135384 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 176.12223529815674, + 236.40146827697754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + 81.57954216486394, + 238.42545661088226, + -21.648421885135384 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 176.12223529815674, + 236.40146827697754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + 84.57954216486394, + 238.42545661088226, + -21.648421885135384 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 176.12223529815674, + 236.40146827697754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + 87.57954216486394, + 238.42545661088226, + -21.648421885135384 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 176.12223529815674, + 236.40146827697754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + 90.57954216486394, + 238.42545661088226, + -21.648421885135384 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 176.12223529815674, + 236.40146827697754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + 93.57954216486394, + 238.42545661088226, + -21.648421885135384 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 176.12223529815674, + 236.40146827697754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + 96.57954216486394, + 238.42545661088226, + -21.648421885135384 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 176.12223529815674, + 236.40146827697754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + 99.57954216486394, + 238.42545661088226, + -21.648421885135384 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 176.12223529815674, + 236.40146827697754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + 102.57954216486394, + 238.42545661088226, + -21.648421885135384 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 176.12223529815674, + 236.40146827697754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + 105.57954216486394, + 238.42545661088226, + -21.648421885135384 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 176.12223529815674, + 236.40146827697754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + 108.57954216486394, + 238.42545661088226, + -21.648421885135384 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 176.12223529815674, + 236.40146827697754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + 108.57954216486394, + 238.42545661088226, + -21.648421885135384 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 176.12223529815674, + 236.40146827697754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + 108.57954216486394, + 238.42545661088226, + -21.648421885135384 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + 110.07954216486394, + 241.02353282223558, + -21.648421885135384 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + 111.57954216486394, + 243.6216090335889, + -21.648421885135384 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + 113.07954216486394, + 246.2196852449422, + -21.648421885135384 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + 114.57954216486394, + 248.81776145629553, + -21.648421885135384 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + 116.07954216486394, + 251.41583766764884, + -21.648421885135384 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + }, + "objects": [] +} +{ + "action": { + "imageid": 32, + "pos": [ + 116.07954216486394, + 251.41583766764884, + -21.648421885135384 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + 118.67761837621725, + 252.91583766764884, + -21.648421885135384 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + 121.27569458757057, + 254.41583766764884, + -21.648421885135384 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + 123.87377079892389, + 255.91583766764884, + -21.648421885135384 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + 126.4718470102772, + 257.4158376676488, + -21.648421885135384 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982907 + }, + "objects": [] +} +{ + "action": { + "imageid": 37, + "pos": [ + 129.06992322163052, + 258.9158376676488, + -21.648421885135384 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + }, + "objects": [] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_21-2-57_8936987/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_21-2-57_8936987/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..08e26511f0a12ef99e76d28b61ab047d729a43c1 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_21-2-57_8936987/pose.jsonl @@ -0,0 +1,1278 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -559.5706519421083, + 606.0547068325498, + -26.52002024873835 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -562.1687281534616, + 604.5547068325498, + -26.52002024873835 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -564.766804364815, + 603.0547068325498, + -26.52002024873835 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -567.3648805761684, + 601.5547068325498, + -26.52002024873835 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -569.9629567875218, + 600.0547068325498, + -26.52002024873835 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -572.5610329988751, + 598.5547068325498, + -26.52002024873835 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -575.1591092102285, + 597.0547068325498, + -26.52002024873835 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -577.7571854215819, + 595.5547068325498, + -26.52002024873835 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -580.3552616329353, + 594.0547068325498, + -26.52002024873835 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -582.9533378442886, + 592.5547068325498, + -26.52002024873835 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -585.551414055642, + 591.0547068325498, + -26.52002024873835 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -588.1494902669954, + 589.5547068325498, + -26.52002024873835 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -590.7475664783487, + 588.0547068325498, + -26.52002024873835 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -593.3456426897021, + 586.5547068325498, + -26.52002024873835 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -595.9437189010555, + 585.0547068325498, + -26.52002024873835 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -598.5417951124089, + 583.5547068325498, + -26.52002024873835 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -601.1398713237622, + 582.0547068325498, + -26.52002024873835 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -603.7379475351156, + 580.5547068325498, + -26.52002024873835 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -606.336023746469, + 579.0547068325498, + -26.52002024873835 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -608.9340999578224, + 577.5547068325498, + -26.52002024873835 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -611.5321761691757, + 576.0547068325498, + -26.52002024873835 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -614.1302523805291, + 574.5547068325498, + -26.52002024873835 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -616.7283285918825, + 573.0547068325498, + -26.52002024873835 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -619.3264048032358, + 571.5547068325498, + -26.52002024873835 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -621.9244810145892, + 570.0547068325498, + -26.52002024873835 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -624.5225572259426, + 568.5547068325498, + -26.52002024873835 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -624.5225572259426, + 568.5547068325498, + -26.52002024873835 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -627.5225572259426, + 568.5547068325498, + -26.52002024873835 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -630.5225572259426, + 568.5547068325498, + -26.52002024873835 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -633.5225572259426, + 568.5547068325498, + -26.52002024873835 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -636.5225572259426, + 568.5547068325498, + -26.52002024873835 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -639.5225572259426, + 568.5547068325498, + -26.52002024873835 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -642.5225572259426, + 568.5547068325498, + -26.52002024873835 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -645.5225572259426, + 568.5547068325498, + -26.52002024873835 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_21-32-43_1977648522/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_21-32-43_1977648522/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..039f09a36fc4de32045ea3c1c094b65f1b6d81f7 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_21-32-43_1977648522/pose.jsonl @@ -0,0 +1,1819 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -638.751041003813, + 524.9995943219105, + -24.30478852067715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -641.3491172151664, + 526.4995943219105, + -24.30478852067715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -643.9471934265198, + 527.9995943219105, + -24.30478852067715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -646.5452696378732, + 529.4995943219105, + -24.30478852067715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -649.1433458492265, + 530.9995943219105, + -24.30478852067715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -651.7414220605799, + 532.4995943219105, + -24.30478852067715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -654.3394982719333, + 533.9995943219105, + -24.30478852067715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -656.9375744832867, + 535.4995943219105, + -24.30478852067715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -659.53565069464, + 536.9995943219105, + -24.30478852067715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -662.1337269059934, + 538.4995943219105, + -24.30478852067715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -664.7318031173468, + 539.9995943219105, + -24.30478852067715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -667.3298793287001, + 541.4995943219105, + -24.30478852067715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -669.9279555400535, + 542.9995943219105, + -24.30478852067715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -672.5260317514069, + 544.4995943219105, + -24.30478852067715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -675.1241079627603, + 545.9995943219105, + -24.30478852067715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -677.7221841741136, + 547.4995943219105, + -24.30478852067715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -680.320260385467, + 548.9995943219105, + -24.30478852067715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -682.9183365968204, + 550.4995943219105, + -24.30478852067715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -685.5164128081738, + 551.9995943219105, + -24.30478852067715 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -685.5164128081738, + 551.9995943219105, + -24.30478852067715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -687.0164128081738, + 554.5976705332639, + -24.30478852067715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -688.5164128081738, + 557.1957467446173, + -24.30478852067715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -690.0164128081738, + 559.7938229559707, + -24.30478852067715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -691.5164128081738, + 562.391899167324, + -24.30478852067715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -693.0164128081738, + 564.9899753786774, + -24.30478852067715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -694.5164128081738, + 567.5880515900308, + -24.30478852067715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -696.0164128081738, + 570.1861278013841, + -24.30478852067715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -697.5164128081738, + 572.7842040127375, + -24.30478852067715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -699.0164128081738, + 575.3822802240909, + -24.30478852067715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -700.5164128081738, + 577.9803564354443, + -24.30478852067715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -702.0164128081738, + 580.5784326467976, + -24.30478852067715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -703.5164128081738, + 583.176508858151, + -24.30478852067715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -705.0164128081738, + 585.7745850695044, + -24.30478852067715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -706.5164128081738, + 588.3726612808578, + -24.30478852067715 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -706.5164128081738, + 588.3726612808578, + -24.30478852067715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -709.1144890195271, + 589.8726612808578, + -24.30478852067715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -711.7125652308805, + 591.3726612808578, + -24.30478852067715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -714.3106414422339, + 592.8726612808578, + -24.30478852067715 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_3-27-22_1665947468/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_3-27-22_1665947468/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7833f94c286d6fb45bc6346130617b750238afc2 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_3-27-22_1665947468/pose.jsonl @@ -0,0 +1,1670 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -732.5464429527896, + 291.1292165357306, + -6.620901929936885 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -731.0464429527896, + 288.5311403243773, + -6.620901929936885 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -729.5464429527896, + 285.933064113024, + -6.620901929936885 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -728.0464429527896, + 283.3349879016707, + -6.620901929936885 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -726.5464429527896, + 280.73691169031736, + -6.620901929936885 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -725.0464429527896, + 278.13883547896404, + -6.620901929936885 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -723.5464429527896, + 275.5407592676107, + -6.620901929936885 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -722.0464429527896, + 272.9426830562574, + -6.620901929936885 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -720.5464429527896, + 270.3446068449041, + -6.620901929936885 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -719.0464429527896, + 267.7465306335508, + -6.620901929936885 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -717.5464429527896, + 265.14845442219746, + -6.620901929936885 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -716.0464429527896, + 262.55037821084414, + -6.620901929936885 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -714.5464429527896, + 259.9523019994908, + -6.620901929936885 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -713.0464429527896, + 257.3542257881375, + -6.620901929936885 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -711.5464429527896, + 254.7561495767842, + -6.620901929936885 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -710.0464429527896, + 252.15807336543088, + -6.620901929936885 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -708.5464429527896, + 249.55999715407756, + -6.620901929936885 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -707.0464429527896, + 246.96192094272425, + -6.620901929936885 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -705.5464429527896, + 244.36384473137093, + -6.620901929936885 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -705.5464429527896, + 244.36384473137093, + -6.620901929936885 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -702.9483667414363, + 242.86384473137093, + -6.620901929936885 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -700.3502905300829, + 241.36384473137093, + -6.620901929936885 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -697.7522143187296, + 239.86384473137093, + -6.620901929936885 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -695.1541381073762, + 238.36384473137093, + -6.620901929936885 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -692.5560618960228, + 236.86384473137093, + -6.620901929936885 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -689.9579856846694, + 235.36384473137093, + -6.620901929936885 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -687.3599094733161, + 233.86384473137093, + -6.620901929936885 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -684.7618332619627, + 232.36384473137093, + -6.620901929936885 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -682.1637570506093, + 230.86384473137093, + -6.620901929936885 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -679.565680839256, + 229.36384473137093, + -6.620901929936885 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -676.9676046279026, + 227.86384473137093, + -6.620901929936885 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -674.3695284165492, + 226.36384473137093, + -6.620901929936885 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -671.7714522051958, + 224.86384473137093, + -6.620901929936885 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -669.1733759938425, + 223.36384473137093, + -6.620901929936885 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -666.5752997824891, + 221.86384473137093, + -6.620901929936885 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_3-46-25_638422090/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_3-46-25_638422090/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b63e44ebaa600dfc5420da3d0122ffb908ec98c0 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_3-46-25_638422090/pose.jsonl @@ -0,0 +1,2356 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -374.8805556148832, + 540.6276098254689, + -0.4000267102904296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -374.8805556148832, + 543.6276098254689, + -0.4000267102904296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -374.8805556148832, + 546.6276098254689, + -0.4000267102904296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -374.8805556148832, + 549.6276098254689, + -0.4000267102904296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -374.8805556148832, + 552.6276098254689, + -0.4000267102904296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -374.8805556148832, + 555.6276098254689, + -0.4000267102904296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -374.8805556148832, + 558.6276098254689, + -0.4000267102904296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -374.8805556148832, + 561.6276098254689, + -0.4000267102904296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -374.8805556148832, + 564.6276098254689, + -0.4000267102904296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -374.8805556148832, + 567.6276098254689, + -0.4000267102904296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -374.8805556148832, + 570.6276098254689, + -0.4000267102904296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -374.8805556148832, + 573.6276098254689, + -0.4000267102904296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -374.8805556148832, + 576.6276098254689, + -0.4000267102904296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -374.8805556148832, + 579.6276098254689, + -0.4000267102904296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -374.8805556148832, + 582.6276098254689, + -0.4000267102904296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -374.8805556148832, + 585.6276098254689, + -0.4000267102904296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -374.8805556148832, + 588.6276098254689, + -0.4000267102904296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -374.8805556148832, + 591.6276098254689, + -0.4000267102904296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -374.8805556148832, + 594.6276098254689, + -0.4000267102904296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -374.8805556148832, + 597.6276098254689, + -0.4000267102904296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -374.8805556148832, + 600.6276098254689, + -0.4000267102904296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -374.8805556148832, + 603.6276098254689, + -0.4000267102904296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -374.8805556148832, + 606.6276098254689, + -0.4000267102904296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -374.8805556148832, + 609.6276098254689, + -0.4000267102904296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -374.8805556148832, + 612.6276098254689, + -0.4000267102904296 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -374.8805556148832, + 612.6276098254689, + -0.4000267102904296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -373.3805556148832, + 615.2256860368223, + -0.4000267102904296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -371.8805556148832, + 617.8237622481756, + -0.4000267102904296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -370.3805556148832, + 620.421838459529, + -0.4000267102904296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -368.8805556148832, + 623.0199146708824, + -0.4000267102904296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -367.3805556148832, + 625.6179908822357, + -0.4000267102904296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -365.8805556148832, + 628.2160670935891, + -0.4000267102904296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -364.3805556148832, + 630.8141433049425, + -0.4000267102904296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -362.8805556148832, + 633.4122195162959, + -0.4000267102904296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -361.3805556148832, + 636.0102957276492, + -0.4000267102904296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -359.8805556148832, + 638.6083719390026, + -0.4000267102904296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -358.3805556148832, + 641.206448150356, + -0.4000267102904296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -356.8805556148832, + 643.8045243617094, + -0.4000267102904296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -355.3805556148832, + 646.4026005730627, + -0.4000267102904296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 39, + "pos": [ + -353.8805556148832, + 649.0006767844161, + -0.4000267102904296 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_4-15-10_1307565984/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_4-15-10_1307565984/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e789eb59c9156677843b569cf99f37e24ab10d66 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_4-15-10_1307565984/pose.jsonl @@ -0,0 +1,1421 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -531.9109367250267, + 658.908103693894, + -28.510107008917966 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -533.4109367250267, + 656.3100274825406, + -28.510107008917966 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -534.9109367250267, + 653.7119512711872, + -28.510107008917966 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -536.4109367250267, + 651.1138750598338, + -28.510107008917966 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -537.9109367250267, + 648.5157988484805, + -28.510107008917966 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -539.4109367250267, + 645.9177226371271, + -28.510107008917966 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -540.9109367250267, + 643.3196464257737, + -28.510107008917966 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -542.4109367250267, + 640.7215702144204, + -28.510107008917966 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -543.9109367250267, + 638.123494003067, + -28.510107008917966 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -545.4109367250267, + 635.5254177917136, + -28.510107008917966 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -546.9109367250267, + 632.9273415803602, + -28.510107008917966 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -548.4109367250267, + 630.3292653690069, + -28.510107008917966 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -549.9109367250267, + 627.7311891576535, + -28.510107008917966 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -551.4109367250267, + 625.1331129463001, + -28.510107008917966 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -552.9109367250267, + 622.5350367349467, + -28.510107008917966 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -554.4109367250267, + 619.9369605235934, + -28.510107008917966 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -555.9109367250267, + 617.33888431224, + -28.510107008917966 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -555.9109367250267, + 617.33888431224, + -28.510107008917966 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -555.9109367250267, + 614.33888431224, + -28.510107008917966 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -555.9109367250267, + 611.33888431224, + -28.510107008917966 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -555.9109367250267, + 608.33888431224, + -28.510107008917966 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -555.9109367250267, + 605.33888431224, + -28.510107008917966 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -555.9109367250267, + 602.33888431224, + -28.510107008917966 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -555.9109367250267, + 599.33888431224, + -28.510107008917966 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -555.9109367250267, + 596.33888431224, + -28.510107008917966 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -555.9109367250267, + 593.33888431224, + -28.510107008917966 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -555.9109367250267, + 590.33888431224, + -28.510107008917966 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -555.9109367250267, + 587.33888431224, + -28.510107008917966 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -555.9109367250267, + 584.33888431224, + -28.510107008917966 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -555.9109367250267, + 581.33888431224, + -28.510107008917966 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -555.9109367250267, + 578.33888431224, + -28.510107008917966 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -555.9109367250267, + 575.33888431224, + -28.510107008917966 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -555.9109367250267, + 572.33888431224, + -28.510107008917966 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -555.9109367250267, + 569.33888431224, + -28.510107008917966 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_4-3-6_382697713/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_4-3-6_382697713/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ecbaf823fa8bdcaba5c67035c0bdbfc0d9d865fb --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_4-3-6_382697713/pose.jsonl @@ -0,0 +1,1066 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 155.44798306648852, + 383.5732860427858, + -4.970554014563351 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 240.78176975250244, + 355.75264739990234, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + 158.44798306648852, + 383.5732860427858, + -4.970554014563351 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 240.78176975250244, + 355.75264739990234, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + 161.44798306648852, + 383.5732860427858, + -4.970554014563351 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 240.78176975250244, + 355.75264739990234, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + 164.44798306648852, + 383.5732860427858, + -4.970554014563351 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 240.78176975250244, + 355.75264739990234, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + 167.44798306648852, + 383.5732860427858, + -4.970554014563351 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 240.78176975250244, + 355.75264739990234, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + 170.44798306648852, + 383.5732860427858, + -4.970554014563351 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 240.78176975250244, + 355.75264739990234, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + 173.44798306648852, + 383.5732860427858, + -4.970554014563351 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 240.78176975250244, + 355.75264739990234, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + 176.44798306648852, + 383.5732860427858, + -4.970554014563351 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 240.78176975250244, + 355.75264739990234, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + 179.44798306648852, + 383.5732860427858, + -4.970554014563351 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 240.78176975250244, + 355.75264739990234, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + 182.44798306648852, + 383.5732860427858, + -4.970554014563351 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 240.78176975250244, + 355.75264739990234, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + 185.44798306648852, + 383.5732860427858, + -4.970554014563351 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 240.78176975250244, + 355.75264739990234, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + 188.44798306648852, + 383.5732860427858, + -4.970554014563351 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 240.78176975250244, + 355.75264739990234, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + 191.44798306648852, + 383.5732860427858, + -4.970554014563351 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 240.78176975250244, + 355.75264739990234, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + 191.44798306648852, + 383.5732860427858, + -4.970554014563351 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 240.78176975250244, + 355.75264739990234, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + 194.04605927784183, + 382.0732860427858, + -4.970554014563351 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 240.78176975250244, + 355.75264739990234, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + 196.64413548919515, + 380.5732860427858, + -4.970554014563351 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 240.78176975250244, + 355.75264739990234, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + 199.24221170054847, + 379.0732860427858, + -4.970554014563351 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 240.78176975250244, + 355.75264739990234, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + 201.84028791190178, + 377.5732860427858, + -4.970554014563351 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 240.78176975250244, + 355.75264739990234, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + 204.4383641232551, + 376.0732860427858, + -4.970554014563351 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 240.78176975250244, + 355.75264739990234, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + 207.03644033460841, + 374.5732860427858, + -4.970554014563351 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 240.78176975250244, + 355.75264739990234, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + 209.63451654596173, + 373.0732860427858, + -4.970554014563351 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 240.78176975250244, + 355.75264739990234, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 305.2144260406494, + 346.83962059020996, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + 212.23259275731505, + 371.5732860427858, + -4.970554014563351 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 240.78176975250244, + 355.75264739990234, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 305.2144260406494, + 346.83962059020996, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + 214.83066896866836, + 370.0732860427858, + -4.970554014563351 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 240.78176975250244, + 355.75264739990234, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 305.2144260406494, + 346.83962059020996, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + 217.42874518002168, + 368.5732860427858, + -4.970554014563351 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 240.78176975250244, + 355.75264739990234, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 305.2144260406494, + 346.83962059020996, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + 220.026821391375, + 367.0732860427858, + -4.970554014563351 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 240.78176975250244, + 355.75264739990234, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 305.2144260406494, + 346.83962059020996, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + 222.6248976027283, + 365.5732860427858, + -4.970554014563351 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 240.78176975250244, + 355.75264739990234, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 305.2144260406494, + 346.83962059020996, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + 225.22297381408163, + 364.0732860427858, + -4.970554014563351 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 240.78176975250244, + 355.75264739990234, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 305.2144260406494, + 346.83962059020996, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + 227.82105002543494, + 362.5732860427858, + -4.970554014563351 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 240.78176975250244, + 355.75264739990234, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 305.2144260406494, + 346.83962059020996, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + 230.41912623678826, + 361.0732860427858, + -4.970554014563351 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 240.78176975250244, + 355.75264739990234, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 305.2144260406494, + 346.83962059020996, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + 233.01720244814157, + 359.5732860427858, + -4.970554014563351 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 240.78176975250244, + 355.75264739990234, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 305.2144260406494, + 346.83962059020996, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + 235.6152786594949, + 358.0732860427858, + -4.970554014563351 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 240.78176975250244, + 355.75264739990234, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 305.2144260406494, + 346.83962059020996, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + 238.2133548708482, + 356.5732860427858, + -4.970554014563351 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 240.78176975250244, + 355.75264739990234, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 305.2144260406494, + 346.83962059020996, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.78176975250244, + 355.75264739990234, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_4-42-4_11614769/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_4-42-4_11614769/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0871d47963fc37e0b1078fb5efc93d95ce286f28 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_4-42-4_11614769/pose.jsonl @@ -0,0 +1,1581 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -618.8563185028337, + 647.1791789006697, + -21.07423454812079 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -620.3563185028337, + 649.7772551120231, + -21.07423454812079 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -621.8563185028337, + 652.3753313233765, + -21.07423454812079 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -623.3563185028337, + 654.9734075347299, + -21.07423454812079 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -624.8563185028337, + 657.5714837460832, + -21.07423454812079 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -626.3563185028337, + 660.1695599574366, + -21.07423454812079 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -627.8563185028337, + 662.76763616879, + -21.07423454812079 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -629.3563185028337, + 665.3657123801433, + -21.07423454812079 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -630.8563185028337, + 667.9637885914967, + -21.07423454812079 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -632.3563185028337, + 670.5618648028501, + -21.07423454812079 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -633.8563185028337, + 673.1599410142035, + -21.07423454812079 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -635.3563185028337, + 675.7580172255568, + -21.07423454812079 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -636.8563185028337, + 678.3560934369102, + -21.07423454812079 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -638.3563185028337, + 680.9541696482636, + -21.07423454812079 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -639.8563185028337, + 683.552245859617, + -21.07423454812079 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -641.3563185028337, + 686.1503220709703, + -21.07423454812079 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -642.8563185028337, + 688.7483982823237, + -21.07423454812079 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -644.3563185028337, + 691.3464744936771, + -21.07423454812079 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -645.8563185028337, + 693.9445507050305, + -21.07423454812079 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -647.3563185028337, + 696.5426269163838, + -21.07423454812079 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -648.8563185028337, + 699.1407031277372, + -21.07423454812079 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -650.3563185028337, + 701.7387793390906, + -21.07423454812079 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -651.8563185028337, + 704.3368555504439, + -21.07423454812079 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -653.3563185028337, + 706.9349317617973, + -21.07423454812079 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -654.8563185028337, + 709.5330079731507, + -21.07423454812079 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -654.8563185028337, + 709.5330079731507, + -21.07423454812079 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -654.8563185028337, + 712.5330079731507, + -21.07423454812079 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -654.8563185028337, + 715.5330079731507, + -21.07423454812079 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -654.8563185028337, + 718.5330079731507, + -21.07423454812079 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -654.8563185028337, + 721.5330079731507, + -21.07423454812079 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -654.8563185028337, + 724.5330079731507, + -21.07423454812079 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -654.8563185028337, + 727.5330079731507, + -21.07423454812079 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -654.8563185028337, + 730.5330079731507, + -21.07423454812079 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -654.8563185028337, + 733.5330079731507, + -21.07423454812079 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -654.8563185028337, + 736.5330079731507, + -21.07423454812079 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -654.8563185028337, + 739.5330079731507, + -21.07423454812079 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_4-45-52_1858721860/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_4-45-52_1858721860/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f641c3c709ea7b7f31870a9f5ca0559fdbcf42f6 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_4-45-52_1858721860/pose.jsonl @@ -0,0 +1,713 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3.045306340872358, + 587.7723123712348, + -11.878014336632692 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + 0.44723012951904195, + 586.2723123712348, + -11.878014336632692 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -2.150846081834274, + 584.7723123712348, + -11.878014336632692 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -4.74892229318759, + 583.2723123712348, + -11.878014336632692 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -7.346998504540906, + 581.7723123712348, + -11.878014336632692 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -9.945074715894222, + 580.2723123712348, + -11.878014336632692 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -12.543150927247538, + 578.7723123712348, + -11.878014336632692 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -15.141227138600854, + 577.2723123712348, + -11.878014336632692 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -17.73930334995417, + 575.7723123712348, + -11.878014336632692 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -20.337379561307486, + 574.2723123712348, + -11.878014336632692 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -22.935455772660802, + 572.7723123712348, + -11.878014336632692 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -25.533531984014118, + 571.2723123712348, + -11.878014336632692 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -28.131608195367434, + 569.7723123712348, + -11.878014336632692 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -30.72968440672075, + 568.2723123712348, + -11.878014336632692 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -33.327760618074066, + 566.7723123712348, + -11.878014336632692 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -33.327760618074066, + 566.7723123712348, + -11.878014336632692 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -36.327760618074066, + 566.7723123712348, + -11.878014336632692 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 17, + "pos": [ + -39.327760618074066, + 566.7723123712348, + -11.878014336632692 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 18, + "pos": [ + -42.327760618074066, + 566.7723123712348, + -11.878014336632692 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 19, + "pos": [ + -45.327760618074066, + 566.7723123712348, + -11.878014336632692 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 20, + "pos": [ + -48.327760618074066, + 566.7723123712348, + -11.878014336632692 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 21, + "pos": [ + -51.327760618074066, + 566.7723123712348, + -11.878014336632692 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 22, + "pos": [ + -54.327760618074066, + 566.7723123712348, + -11.878014336632692 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 23, + "pos": [ + -57.327760618074066, + 566.7723123712348, + -11.878014336632692 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 24, + "pos": [ + -60.327760618074066, + 566.7723123712348, + -11.878014336632692 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 25, + "pos": [ + -63.327760618074066, + 566.7723123712348, + -11.878014336632692 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 26, + "pos": [ + -66.32776061807407, + 566.7723123712348, + -11.878014336632692 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 27, + "pos": [ + -69.32776061807407, + 566.7723123712348, + -11.878014336632692 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 28, + "pos": [ + -72.32776061807407, + 566.7723123712348, + -11.878014336632692 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 29, + "pos": [ + -75.32776061807407, + 566.7723123712348, + -11.878014336632692 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 30, + "pos": [ + -78.32776061807407, + 566.7723123712348, + -11.878014336632692 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 31, + "pos": [ + -81.32776061807407, + 566.7723123712348, + -11.878014336632692 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 32, + "pos": [ + -84.32776061807407, + 566.7723123712348, + -11.878014336632692 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_4-53-26_213801961/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_4-53-26_213801961/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e8a0948e30f8123037224e142a806c33694701a6 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_4-53-26_213801961/pose.jsonl @@ -0,0 +1,840 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 27.36741060989359, + -82.93317209566497, + -16.19981078899198 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + 28.86741060989359, + -80.33509588431166, + -16.19981078899198 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + 30.36741060989359, + -77.73701967295834, + -16.19981078899198 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + 31.86741060989359, + -75.13894346160502, + -16.19981078899198 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + 33.36741060989359, + -72.54086725025171, + -16.19981078899198 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + 34.86741060989359, + -69.94279103889839, + -16.19981078899198 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + 36.36741060989359, + -67.34471482754508, + -16.19981078899198 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + 37.86741060989359, + -64.74663861619176, + -16.19981078899198 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + 39.36741060989359, + -62.148562404838444, + -16.19981078899198 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + 40.86741060989359, + -59.55048619348513, + -16.19981078899198 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + 42.36741060989359, + -56.95240998213181, + -16.19981078899198 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + 43.86741060989359, + -54.354333770778496, + -16.19981078899198 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + 45.36741060989359, + -51.75625755942518, + -16.19981078899198 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + 46.86741060989359, + -49.158181348071864, + -16.19981078899198 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + 48.36741060989359, + -46.56010513671855, + -16.19981078899198 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + 49.86741060989359, + -43.96202892536523, + -16.19981078899198 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + 51.36741060989359, + -41.363952714011916, + -16.19981078899198 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + 52.86741060989359, + -38.7658765026586, + -16.19981078899198 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + 54.36741060989359, + -36.167800291305284, + -16.19981078899198 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + 55.86741060989359, + -33.56972407995197, + -16.19981078899198 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + 57.36741060989359, + -30.97164786859865, + -16.19981078899198 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + 58.86741060989359, + -28.373571657245336, + -16.19981078899198 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + 60.36741060989359, + -25.77549544589202, + -16.19981078899198 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + 61.86741060989359, + -23.177419234538704, + -16.19981078899198 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + 63.36741060989359, + -20.579343023185388, + -16.19981078899198 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + 64.8674106098936, + -17.98126681183207, + -16.19981078899198 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965956 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + 64.8674106098936, + -17.98126681183207, + -16.19981078899198 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948943 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + 64.8674106098936, + -14.981266811832072, + -16.19981078899198 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + 64.8674106098936, + -11.981266811832072, + -16.19981078899198 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + 64.8674106098936, + -8.981266811832072, + -16.19981078899198 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + }, + "objects": [] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_4-59-28_982936784/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_4-59-28_982936784/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..db5f6b28528b9e976eec155f4e49119785ddc83c --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_4-59-28_982936784/pose.jsonl @@ -0,0 +1,904 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -512.5233286610238, + 653.407157494826, + -28.959194669583194 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -511.0233286610238, + 656.0052337061793, + -28.959194669583194 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -509.5233286610238, + 658.6033099175327, + -28.959194669583194 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -508.0233286610238, + 661.201386128886, + -28.959194669583194 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -506.5233286610238, + 663.7994623402394, + -28.959194669583194 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -505.0233286610238, + 666.3975385515928, + -28.959194669583194 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -503.5233286610238, + 668.9956147629462, + -28.959194669583194 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -502.0233286610238, + 671.5936909742995, + -28.959194669583194 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -500.5233286610238, + 674.1917671856529, + -28.959194669583194 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -499.0233286610238, + 676.7898433970063, + -28.959194669583194 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -497.5233286610238, + 679.3879196083597, + -28.959194669583194 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -496.0233286610238, + 681.985995819713, + -28.959194669583194 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -494.5233286610238, + 684.5840720310664, + -28.959194669583194 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -493.0233286610238, + 687.1821482424198, + -28.959194669583194 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -491.5233286610238, + 689.7802244537731, + -28.959194669583194 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -490.0233286610238, + 692.3783006651265, + -28.959194669583194 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -490.0233286610238, + 692.3783006651265, + -28.959194669583194 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -490.0233286610238, + 695.3783006651265, + -28.959194669583194 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -490.0233286610238, + 698.3783006651265, + -28.959194669583194 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -490.0233286610238, + 701.3783006651265, + -28.959194669583194 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -490.0233286610238, + 704.3783006651265, + -28.959194669583194 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -490.0233286610238, + 707.3783006651265, + -28.959194669583194 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -490.0233286610238, + 710.3783006651265, + -28.959194669583194 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -490.0233286610238, + 713.3783006651265, + -28.959194669583194 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -490.0233286610238, + 716.3783006651265, + -28.959194669583194 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -490.0233286610238, + 719.3783006651265, + -28.959194669583194 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -490.0233286610238, + 722.3783006651265, + -28.959194669583194 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -490.0233286610238, + 725.3783006651265, + -28.959194669583194 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -490.0233286610238, + 728.3783006651265, + -28.959194669583194 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_5-14-57_150517567/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_5-14-57_150517567/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1decfbe701d24128cf3aa9013375e3bc7ae4c9d0 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_5-14-57_150517567/pose.jsonl @@ -0,0 +1,1297 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -686.0141679064036, + 671.6943621659018, + -5.520644624199409 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -683.4160916950502, + 673.1943621659018, + -5.520644624199409 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -683.4160916950502, + 673.1943621659018, + -5.520644624199409 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -681.9160916950502, + 675.7924383772552, + -5.520644624199409 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -680.4160916950502, + 678.3905145886085, + -5.520644624199409 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -678.9160916950502, + 680.9885907999619, + -5.520644624199409 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -677.4160916950502, + 683.5866670113153, + -5.520644624199409 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -675.9160916950502, + 686.1847432226687, + -5.520644624199409 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -674.4160916950502, + 688.782819434022, + -5.520644624199409 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -672.9160916950502, + 691.3808956453754, + -5.520644624199409 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -672.9160916950502, + 691.3808956453754, + -5.520644624199409 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -670.3180154836969, + 692.8808956453754, + -5.520644624199409 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -667.7199392723435, + 694.3808956453754, + -5.520644624199409 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -665.1218630609901, + 695.8808956453754, + -5.520644624199409 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -662.5237868496367, + 697.3808956453754, + -5.520644624199409 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -659.9257106382834, + 698.8808956453754, + -5.520644624199409 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -657.32763442693, + 700.3808956453754, + -5.520644624199409 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -654.7295582155766, + 701.8808956453754, + -5.520644624199409 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -652.1314820042232, + 703.3808956453754, + -5.520644624199409 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -649.5334057928699, + 704.8808956453754, + -5.520644624199409 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -646.9353295815165, + 706.3808956453754, + -5.520644624199409 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -644.3372533701631, + 707.8808956453754, + -5.520644624199409 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -641.7391771588098, + 709.3808956453754, + -5.520644624199409 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -639.1411009474564, + 710.8808956453754, + -5.520644624199409 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -636.543024736103, + 712.3808956453754, + -5.520644624199409 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -633.9449485247496, + 713.8808956453754, + -5.520644624199409 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -631.3468723133963, + 715.3808956453754, + -5.520644624199409 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -628.7487961020429, + 716.8808956453754, + -5.520644624199409 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -626.1507198906895, + 718.3808956453754, + -5.520644624199409 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -623.5526436793361, + 719.8808956453754, + -5.520644624199409 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -620.9545674679828, + 721.3808956453754, + -5.520644624199409 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + }, + "objects": [] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_5-15-38_212251746/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_5-15-38_212251746/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ca2faa4a86eff589912eb3dfc2b099fd66747ff8 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_5-15-38_212251746/pose.jsonl @@ -0,0 +1,1627 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -782.9800823477484, + 364.0546454373986, + -23.376991077809578 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [] +} +{ + "action": { + "imageid": 1, + "pos": [ + -781.4800823477484, + 366.65272164875194, + -23.376991077809578 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [] +} +{ + "action": { + "imageid": 2, + "pos": [ + -779.9800823477484, + 369.25079786010525, + -23.376991077809578 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [] +} +{ + "action": { + "imageid": 3, + "pos": [ + -778.4800823477484, + 371.84887407145857, + -23.376991077809578 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [] +} +{ + "action": { + "imageid": 4, + "pos": [ + -776.9800823477484, + 374.4469502828119, + -23.376991077809578 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [] +} +{ + "action": { + "imageid": 5, + "pos": [ + -775.4800823477484, + 377.0450264941652, + -23.376991077809578 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -773.9800823477484, + 379.6431027055185, + -23.376991077809578 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -772.4800823477484, + 382.24117891687183, + -23.376991077809578 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -770.9800823477484, + 384.83925512822515, + -23.376991077809578 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -769.4800823477484, + 387.43733133957846, + -23.376991077809578 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -767.9800823477484, + 390.0354075509318, + -23.376991077809578 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -766.4800823477484, + 392.6334837622851, + -23.376991077809578 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -764.9800823477484, + 395.2315599736384, + -23.376991077809578 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -763.4800823477484, + 397.8296361849917, + -23.376991077809578 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -761.9800823477484, + 400.42771239634504, + -23.376991077809578 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -760.4800823477484, + 403.02578860769836, + -23.376991077809578 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -758.9800823477484, + 405.6238648190517, + -23.376991077809578 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -757.4800823477484, + 408.221941030405, + -23.376991077809578 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -755.9800823477484, + 410.8200172417583, + -23.376991077809578 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -754.4800823477484, + 413.4180934531116, + -23.376991077809578 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -752.9800823477484, + 416.01616966446494, + -23.376991077809578 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -751.4800823477484, + 418.61424587581826, + -23.376991077809578 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -749.9800823477484, + 421.2123220871716, + -23.376991077809578 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -748.4800823477484, + 423.8103982985249, + -23.376991077809578 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -746.9800823477484, + 426.4084745098782, + -23.376991077809578 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -746.9800823477484, + 426.4084745098782, + -23.376991077809578 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -744.3820061363951, + 427.9084745098782, + -23.376991077809578 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -741.7839299250418, + 429.4084745098782, + -23.376991077809578 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -739.1858537136884, + 430.9084745098782, + -23.376991077809578 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -736.587777502335, + 432.4084745098782, + -23.376991077809578 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -733.9897012909817, + 433.9084745098782, + -23.376991077809578 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -731.3916250796283, + 435.4084745098782, + -23.376991077809578 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -728.7935488682749, + 436.9084745098782, + -23.376991077809578 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -726.1954726569215, + 438.4084745098782, + -23.376991077809578 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -723.5973964455682, + 439.9084745098782, + -23.376991077809578 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -720.9993202342148, + 441.4084745098782, + -23.376991077809578 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -718.4012440228614, + 442.9084745098782, + -23.376991077809578 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -715.803167811508, + 444.4084745098782, + -23.376991077809578 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -713.2050916001547, + 445.9084745098782, + -23.376991077809578 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 39, + "pos": [ + -710.6070153888013, + 447.4084745098782, + -23.376991077809578 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 40, + "pos": [ + -708.0089391774479, + 448.9084745098782, + -23.376991077809578 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 41, + "pos": [ + -705.4108629660946, + 450.4084745098782, + -23.376991077809578 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_5-32-59_1448703729/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_5-32-59_1448703729/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..70d37b9d2182dd4b6b7b94b342268e48ba83ea41 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_5-32-59_1448703729/pose.jsonl @@ -0,0 +1,1682 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 71.50772311817117, + 257.6130906912696, + -29.254153196773903 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + 70.00772311817117, + 260.2111669026229, + -29.254153196773903 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + 68.50772311817117, + 262.8092431139762, + -29.254153196773903 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + 67.00772311817117, + 265.4073193253295, + -29.254153196773903 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + 65.50772311817117, + 268.00539553668284, + -29.254153196773903 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + 64.00772311817117, + 270.60347174803616, + -29.254153196773903 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + 62.50772311817117, + 273.2015479593895, + -29.254153196773903 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + 61.00772311817117, + 275.7996241707428, + -29.254153196773903 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + 59.50772311817117, + 278.3977003820961, + -29.254153196773903 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + 58.00772311817117, + 280.9957765934494, + -29.254153196773903 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + 56.50772311817117, + 283.59385280480274, + -29.254153196773903 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + 55.00772311817117, + 286.19192901615605, + -29.254153196773903 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + 53.50772311817117, + 288.79000522750937, + -29.254153196773903 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + 52.00772311817117, + 291.3880814388627, + -29.254153196773903 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + 50.50772311817117, + 293.986157650216, + -29.254153196773903 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + 49.00772311817117, + 296.5842338615693, + -29.254153196773903 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + 47.50772311817117, + 299.18231007292263, + -29.254153196773903 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + 46.00772311817117, + 301.78038628427595, + -29.254153196773903 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + 44.50772311817117, + 304.37846249562926, + -29.254153196773903 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + 43.00772311817117, + 306.9765387069826, + -29.254153196773903 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + 41.50772311817117, + 309.5746149183359, + -29.254153196773903 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + 40.00772311817117, + 312.1726911296892, + -29.254153196773903 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + 38.50772311817117, + 314.77076734104253, + -29.254153196773903 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + 37.00772311817117, + 317.36884355239584, + -29.254153196773903 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + 35.50772311817117, + 319.96691976374916, + -29.254153196773903 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + 34.00772311817117, + 322.5649959751025, + -29.254153196773903 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + 32.50772311817117, + 325.1630721864558, + -29.254153196773903 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + 31.00772311817117, + 327.7611483978091, + -29.254153196773903 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + 29.50772311817117, + 330.3592246091624, + -29.254153196773903 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + 28.00772311817117, + 332.95730082051574, + -29.254153196773903 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + 26.50772311817117, + 335.55537703186906, + -29.254153196773903 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + 25.00772311817117, + 338.1534532432224, + -29.254153196773903 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + 23.50772311817117, + 340.7515294545757, + -29.254153196773903 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + 23.50772311817117, + 340.7515294545757, + -29.254153196773903 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + 20.909646906817855, + 342.2515294545757, + -29.254153196773903 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + 18.31157069546454, + 343.7515294545757, + -29.254153196773903 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + 15.713494484111223, + 345.2515294545757, + -29.254153196773903 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + 13.115418272757907, + 346.7515294545757, + -29.254153196773903 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + 10.517342061404591, + 348.2515294545757, + -29.254153196773903 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 39, + "pos": [ + 7.919265850051275, + 349.7515294545757, + -29.254153196773903 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 40, + "pos": [ + 5.321189638697959, + 351.2515294545757, + -29.254153196773903 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_5-44-58_1583571043/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_5-44-58_1583571043/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..927496041fe988fec0e67a198b320255d27c0a15 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_5-44-58_1583571043/pose.jsonl @@ -0,0 +1,1839 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -154.08951464032148, + 543.8446320325397, + -2.9509391878753775 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -157.08951464032148, + 543.8446320325397, + -2.9509391878753775 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -160.08951464032148, + 543.8446320325397, + -2.9509391878753775 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -163.08951464032148, + 543.8446320325397, + -2.9509391878753775 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -166.08951464032148, + 543.8446320325397, + -2.9509391878753775 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -169.08951464032148, + 543.8446320325397, + -2.9509391878753775 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -172.08951464032148, + 543.8446320325397, + -2.9509391878753775 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -175.08951464032148, + 543.8446320325397, + -2.9509391878753775 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -178.08951464032148, + 543.8446320325397, + -2.9509391878753775 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -181.08951464032148, + 543.8446320325397, + -2.9509391878753775 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -184.08951464032148, + 543.8446320325397, + -2.9509391878753775 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -187.08951464032148, + 543.8446320325397, + -2.9509391878753775 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -190.08951464032148, + 543.8446320325397, + -2.9509391878753775 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -193.08951464032148, + 543.8446320325397, + -2.9509391878753775 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -196.08951464032148, + 543.8446320325397, + -2.9509391878753775 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -199.08951464032148, + 543.8446320325397, + -2.9509391878753775 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -202.08951464032148, + 543.8446320325397, + -2.9509391878753775 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -205.08951464032148, + 543.8446320325397, + -2.9509391878753775 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -208.08951464032148, + 543.8446320325397, + -2.9509391878753775 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -211.08951464032148, + 543.8446320325397, + -2.9509391878753775 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -214.08951464032148, + 543.8446320325397, + -2.9509391878753775 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -217.08951464032148, + 543.8446320325397, + -2.9509391878753775 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -220.08951464032148, + 543.8446320325397, + -2.9509391878753775 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -223.08951464032148, + 543.8446320325397, + -2.9509391878753775 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -226.08951464032148, + 543.8446320325397, + -2.9509391878753775 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -229.08951464032148, + 543.8446320325397, + -2.9509391878753775 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -232.08951464032148, + 543.8446320325397, + -2.9509391878753775 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -235.08951464032148, + 543.8446320325397, + -2.9509391878753775 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -238.08951464032148, + 543.8446320325397, + -2.9509391878753775 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -238.08951464032148, + 543.8446320325397, + -2.9509391878753775 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -240.6875908516748, + 545.3446320325397, + -2.9509391878753775 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -243.28566706302811, + 546.8446320325397, + -2.9509391878753775 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -245.88374327438143, + 548.3446320325397, + -2.9509391878753775 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -248.48181948573475, + 549.8446320325397, + -2.9509391878753775 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -251.07989569708806, + 551.3446320325397, + -2.9509391878753775 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_6-12-41_733053144/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_6-12-41_733053144/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a24521916b0134ce6736a670bc51278123ba5cc4 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_6-12-41_733053144/pose.jsonl @@ -0,0 +1,1711 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -391.2448177280948, + 702.5699185668669, + -18.361867318987393 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -393.8428939394481, + 701.0699185668669, + -18.361867318987393 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -396.44097015080143, + 699.5699185668669, + -18.361867318987393 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -399.03904636215475, + 698.0699185668669, + -18.361867318987393 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -401.63712257350807, + 696.5699185668669, + -18.361867318987393 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -404.2351987848614, + 695.0699185668669, + -18.361867318987393 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -406.8332749962147, + 693.5699185668669, + -18.361867318987393 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -409.431351207568, + 692.0699185668669, + -18.361867318987393 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -412.02942741892133, + 690.5699185668669, + -18.361867318987393 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -414.62750363027465, + 689.0699185668669, + -18.361867318987393 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -417.22557984162796, + 687.5699185668669, + -18.361867318987393 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -419.8236560529813, + 686.0699185668669, + -18.361867318987393 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -422.4217322643346, + 684.5699185668669, + -18.361867318987393 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -425.0198084756879, + 683.0699185668669, + -18.361867318987393 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -427.6178846870412, + 681.5699185668669, + -18.361867318987393 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -430.21596089839454, + 680.0699185668669, + -18.361867318987393 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -432.81403710974786, + 678.5699185668669, + -18.361867318987393 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -435.4121133211012, + 677.0699185668669, + -18.361867318987393 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -438.0101895324545, + 675.5699185668669, + -18.361867318987393 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -440.6082657438078, + 674.0699185668669, + -18.361867318987393 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -443.2063419551611, + 672.5699185668669, + -18.361867318987393 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -445.80441816651444, + 671.0699185668669, + -18.361867318987393 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -448.40249437786775, + 669.5699185668669, + -18.361867318987393 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -451.00057058922107, + 668.0699185668669, + -18.361867318987393 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -453.5986468005744, + 666.5699185668669, + -18.361867318987393 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -453.5986468005744, + 666.5699185668669, + -18.361867318987393 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -456.5986468005744, + 666.5699185668669, + -18.361867318987393 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 27, + "pos": [ + -459.5986468005744, + 666.5699185668669, + -18.361867318987393 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 28, + "pos": [ + -462.5986468005744, + 666.5699185668669, + -18.361867318987393 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 29, + "pos": [ + -465.5986468005744, + 666.5699185668669, + -18.361867318987393 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 30, + "pos": [ + -468.5986468005744, + 666.5699185668669, + -18.361867318987393 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 31, + "pos": [ + -471.5986468005744, + 666.5699185668669, + -18.361867318987393 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 32, + "pos": [ + -474.5986468005744, + 666.5699185668669, + -18.361867318987393 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 33, + "pos": [ + -477.5986468005744, + 666.5699185668669, + -18.361867318987393 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 34, + "pos": [ + -480.5986468005744, + 666.5699185668669, + -18.361867318987393 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 35, + "pos": [ + -483.5986468005744, + 666.5699185668669, + -18.361867318987393 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 36, + "pos": [ + -486.5986468005744, + 666.5699185668669, + -18.361867318987393 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 37, + "pos": [ + -489.5986468005744, + 666.5699185668669, + -18.361867318987393 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 38, + "pos": [ + -492.5986468005744, + 666.5699185668669, + -18.361867318987393 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 39, + "pos": [ + -495.5986468005744, + 666.5699185668669, + -18.361867318987393 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 40, + "pos": [ + -498.5986468005744, + 666.5699185668669, + -18.361867318987393 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 41, + "pos": [ + -501.5986468005744, + 666.5699185668669, + -18.361867318987393 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_6-17-27_400000569/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_6-17-27_400000569/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..db47d762adacc1e49728d5ab351bbf3f6df8478a --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_6-17-27_400000569/pose.jsonl @@ -0,0 +1,826 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 310.10228531663574, + 265.00621531797185, + -4.147424242027181 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 305.2144260406494, + 346.83962059020996, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + 310.10228531663574, + 268.00621531797185, + -4.147424242027181 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 305.2144260406494, + 346.83962059020996, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + 310.10228531663574, + 271.00621531797185, + -4.147424242027181 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 305.2144260406494, + 346.83962059020996, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + 310.10228531663574, + 274.00621531797185, + -4.147424242027181 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 305.2144260406494, + 346.83962059020996, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + 310.10228531663574, + 277.00621531797185, + -4.147424242027181 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 305.2144260406494, + 346.83962059020996, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + 310.10228531663574, + 280.00621531797185, + -4.147424242027181 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 305.2144260406494, + 346.83962059020996, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + 310.10228531663574, + 283.00621531797185, + -4.147424242027181 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 305.2144260406494, + 346.83962059020996, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + 310.10228531663574, + 286.00621531797185, + -4.147424242027181 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 305.2144260406494, + 346.83962059020996, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + 310.10228531663574, + 289.00621531797185, + -4.147424242027181 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 305.2144260406494, + 346.83962059020996, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + 310.10228531663574, + 292.00621531797185, + -4.147424242027181 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 305.2144260406494, + 346.83962059020996, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + 310.10228531663574, + 295.00621531797185, + -4.147424242027181 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 305.2144260406494, + 346.83962059020996, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + 310.10228531663574, + 298.00621531797185, + -4.147424242027181 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 305.2144260406494, + 346.83962059020996, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + 310.10228531663574, + 301.00621531797185, + -4.147424242027181 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 305.2144260406494, + 346.83962059020996, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + 310.10228531663574, + 304.00621531797185, + -4.147424242027181 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 305.2144260406494, + 346.83962059020996, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + 310.10228531663574, + 307.00621531797185, + -4.147424242027181 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 305.2144260406494, + 346.83962059020996, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + 310.10228531663574, + 310.00621531797185, + -4.147424242027181 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 305.2144260406494, + 346.83962059020996, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + 310.10228531663574, + 313.00621531797185, + -4.147424242027181 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 305.2144260406494, + 346.83962059020996, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + 310.10228531663574, + 316.00621531797185, + -4.147424242027181 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 305.2144260406494, + 346.83962059020996, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + 310.10228531663574, + 319.00621531797185, + -4.147424242027181 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 305.2144260406494, + 346.83962059020996, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + 310.10228531663574, + 322.00621531797185, + -4.147424242027181 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 305.2144260406494, + 346.83962059020996, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + 310.10228531663574, + 325.00621531797185, + -4.147424242027181 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 305.2144260406494, + 346.83962059020996, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + 310.10228531663574, + 328.00621531797185, + -4.147424242027181 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 305.2144260406494, + 346.83962059020996, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + 310.10228531663574, + 331.00621531797185, + -4.147424242027181 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 305.2144260406494, + 346.83962059020996, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + 310.10228531663574, + 334.00621531797185, + -4.147424242027181 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 305.2144260406494, + 346.83962059020996, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + 310.10228531663574, + 337.00621531797185, + -4.147424242027181 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 305.2144260406494, + 346.83962059020996, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + 310.10228531663574, + 337.00621531797185, + -4.147424242027181 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 305.2144260406494, + 346.83962059020996, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + 308.60228531663574, + 339.60429152932517, + -4.147424242027181 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 305.2144260406494, + 346.83962059020996, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + 307.10228531663574, + 342.2023677406785, + -4.147424242027181 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 305.2144260406494, + 346.83962059020996, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + 305.60228531663574, + 344.8004439520318, + -4.147424242027181 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 305.2144260406494, + 346.83962059020996, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 305.2144260406494, + 346.83962059020996, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_6-19-36_1780172261/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_6-19-36_1780172261/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..279e3328573d9501abb0d38d31c7787e2989e705 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_6-19-36_1780172261/pose.jsonl @@ -0,0 +1,1654 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 41.099927837841285, + 426.34128860027397, + -12.50481085867473 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + 41.099927837841285, + 423.34128860027397, + -12.50481085867473 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + 41.099927837841285, + 420.34128860027397, + -12.50481085867473 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + 41.099927837841285, + 417.34128860027397, + -12.50481085867473 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + 41.099927837841285, + 414.34128860027397, + -12.50481085867473 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + 41.099927837841285, + 411.34128860027397, + -12.50481085867473 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + 41.099927837841285, + 408.34128860027397, + -12.50481085867473 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + 41.099927837841285, + 405.34128860027397, + -12.50481085867473 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + 41.099927837841285, + 402.34128860027397, + -12.50481085867473 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + 41.099927837841285, + 399.34128860027397, + -12.50481085867473 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + 41.099927837841285, + 396.34128860027397, + -12.50481085867473 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + 41.099927837841285, + 393.34128860027397, + -12.50481085867473 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + 41.099927837841285, + 390.34128860027397, + -12.50481085867473 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + 41.099927837841285, + 387.34128860027397, + -12.50481085867473 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + 41.099927837841285, + 384.34128860027397, + -12.50481085867473 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + 41.099927837841285, + 381.34128860027397, + -12.50481085867473 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + 41.099927837841285, + 378.34128860027397, + -12.50481085867473 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + 41.099927837841285, + 375.34128860027397, + -12.50481085867473 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + 41.099927837841285, + 372.34128860027397, + -12.50481085867473 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + 41.099927837841285, + 369.34128860027397, + -12.50481085867473 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + 41.099927837841285, + 366.34128860027397, + -12.50481085867473 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + 41.099927837841285, + 363.34128860027397, + -12.50481085867473 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + 41.099927837841285, + 360.34128860027397, + -12.50481085867473 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + 41.099927837841285, + 360.34128860027397, + -12.50481085867473 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + 42.599927837841285, + 357.74321238892065, + -12.50481085867473 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + 44.099927837841285, + 355.14513617756734, + -12.50481085867473 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + 45.599927837841285, + 352.547059966214, + -12.50481085867473 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + 47.099927837841285, + 349.9489837548607, + -12.50481085867473 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + 48.599927837841285, + 347.3509075435074, + -12.50481085867473 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + 50.099927837841285, + 344.7528313321541, + -12.50481085867473 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + 51.599927837841285, + 342.15475512080076, + -12.50481085867473 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + 53.099927837841285, + 339.55667890944744, + -12.50481085867473 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + 54.599927837841285, + 336.9586026980941, + -12.50481085867473 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + 56.099927837841285, + 334.3605264867408, + -12.50481085867473 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + 57.599927837841285, + 331.7624502753875, + -12.50481085867473 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + 59.099927837841285, + 329.1643740640342, + -12.50481085867473 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + 60.599927837841285, + 326.56629785268086, + -12.50481085867473 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + 62.099927837841285, + 323.96822164132755, + -12.50481085867473 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + 63.599927837841285, + 321.37014542997423, + -12.50481085867473 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 39, + "pos": [ + 65.09992783784129, + 318.7720692186209, + -12.50481085867473 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965956 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_6-27-3_500618996/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_6-27-3_500618996/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..da051f105abb6f69636cd3bea911b519cd84cfd8 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_6-27-3_500618996/pose.jsonl @@ -0,0 +1,1519 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -842.0522811630377, + 412.6151639963967, + -1.945048693493316 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -842.0522811630377, + 415.6151639963967, + -1.945048693493316 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -842.0522811630377, + 418.6151639963967, + -1.945048693493316 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -842.0522811630377, + 421.6151639963967, + -1.945048693493316 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -842.0522811630377, + 424.6151639963967, + -1.945048693493316 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -842.0522811630377, + 427.6151639963967, + -1.945048693493316 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -842.0522811630377, + 430.6151639963967, + -1.945048693493316 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -842.0522811630377, + 433.6151639963967, + -1.945048693493316 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -842.0522811630377, + 436.6151639963967, + -1.945048693493316 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -842.0522811630377, + 439.6151639963967, + -1.945048693493316 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -842.0522811630377, + 442.6151639963967, + -1.945048693493316 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -842.0522811630377, + 445.6151639963967, + -1.945048693493316 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -842.0522811630377, + 448.6151639963967, + -1.945048693493316 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -842.0522811630377, + 451.6151639963967, + -1.945048693493316 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -842.0522811630377, + 454.6151639963967, + -1.945048693493316 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -842.0522811630377, + 457.6151639963967, + -1.945048693493316 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -842.0522811630377, + 460.6151639963967, + -1.945048693493316 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -842.0522811630377, + 463.6151639963967, + -1.945048693493316 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -842.0522811630377, + 466.6151639963967, + -1.945048693493316 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -842.0522811630377, + 469.6151639963967, + -1.945048693493316 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -842.0522811630377, + 472.6151639963967, + -1.945048693493316 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -842.0522811630377, + 475.6151639963967, + -1.945048693493316 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -842.0522811630377, + 478.6151639963967, + -1.945048693493316 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -842.0522811630377, + 481.6151639963967, + -1.945048693493316 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -842.0522811630377, + 481.6151639963967, + -1.945048693493316 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -843.5522811630377, + 484.21324020775, + -1.945048693493316 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -845.0522811630377, + 486.8113164191033, + -1.945048693493316 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -846.5522811630377, + 489.40939263045664, + -1.945048693493316 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -848.0522811630377, + 492.00746884180995, + -1.945048693493316 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -849.5522811630377, + 494.60554505316327, + -1.945048693493316 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -851.0522811630377, + 497.2036212645166, + -1.945048693493316 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -852.5522811630377, + 499.8016974758699, + -1.945048693493316 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -854.0522811630377, + 502.3997736872232, + -1.945048693493316 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -855.5522811630377, + 504.99784989857653, + -1.945048693493316 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -857.0522811630377, + 507.59592610992985, + -1.945048693493316 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -858.5522811630377, + 510.19400232128316, + -1.945048693493316 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -860.0522811630377, + 512.7920785326364, + -1.945048693493316 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -861.5522811630377, + 515.3901547439898, + -1.945048693493316 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + }, + "objects": [] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_6-36-54_696947386/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_6-36-54_696947386/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6a1234fe64c79771f04bd975e10c12873b2bd370 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_6-36-54_696947386/pose.jsonl @@ -0,0 +1,1866 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -844.6808376897403, + 607.8005442631797, + -28.381297636160774 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -844.6808376897403, + 604.8005442631797, + -28.381297636160774 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -844.6808376897403, + 601.8005442631797, + -28.381297636160774 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -844.6808376897403, + 598.8005442631797, + -28.381297636160774 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -844.6808376897403, + 595.8005442631797, + -28.381297636160774 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -844.6808376897403, + 592.8005442631797, + -28.381297636160774 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -844.6808376897403, + 589.8005442631797, + -28.381297636160774 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -844.6808376897403, + 586.8005442631797, + -28.381297636160774 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -844.6808376897403, + 586.8005442631797, + -28.381297636160774 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -846.1808376897403, + 584.2024680518264, + -28.381297636160774 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -846.1808376897403, + 584.2024680518264, + -28.381297636160774 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -846.1808376897403, + 581.2024680518264, + -28.381297636160774 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -846.1808376897403, + 578.2024680518264, + -28.381297636160774 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -846.1808376897403, + 575.2024680518264, + -28.381297636160774 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -846.1808376897403, + 572.2024680518264, + -28.381297636160774 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -846.1808376897403, + 569.2024680518264, + -28.381297636160774 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -846.1808376897403, + 566.2024680518264, + -28.381297636160774 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -846.1808376897403, + 563.2024680518264, + -28.381297636160774 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -846.1808376897403, + 560.2024680518264, + -28.381297636160774 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -846.1808376897403, + 560.2024680518264, + -28.381297636160774 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -846.1808376897403, + 560.2024680518264, + -28.381297636160774 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982989 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -843.582761478387, + 558.7024680518264, + -28.381297636160774 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -840.9846852670337, + 557.2024680518264, + -28.381297636160774 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -840.9846852670337, + 557.2024680518264, + -28.381297636160774 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -839.4846852670337, + 554.604391840473, + -28.381297636160774 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -837.9846852670337, + 552.0063156291196, + -28.381297636160774 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -836.4846852670337, + 549.4082394177663, + -28.381297636160774 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -834.9846852670337, + 546.8101632064129, + -28.381297636160774 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -833.4846852670337, + 544.2120869950595, + -28.381297636160774 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -831.9846852670337, + 541.6140107837061, + -28.381297636160774 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -830.4846852670337, + 539.0159345723528, + -28.381297636160774 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -828.9846852670337, + 536.4178583609994, + -28.381297636160774 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -827.4846852670337, + 533.819782149646, + -28.381297636160774 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -825.9846852670337, + 531.2217059382926, + -28.381297636160774 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -824.4846852670337, + 528.6236297269393, + -28.381297636160774 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -822.9846852670337, + 526.0255535155859, + -28.381297636160774 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -821.4846852670337, + 523.4274773042325, + -28.381297636160774 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -821.4846852670337, + 523.4274773042325, + -28.381297636160774 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -821.4846852670337, + 520.4274773042325, + -28.381297636160774 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 39, + "pos": [ + -821.4846852670337, + 517.4274773042325, + -28.381297636160774 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 40, + "pos": [ + -821.4846852670337, + 514.4274773042325, + -28.381297636160774 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 41, + "pos": [ + -821.4846852670337, + 511.4274773042325, + -28.381297636160774 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_6-38-25_1265204346/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_6-38-25_1265204346/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9095d1415614497cdba66c41c8b2a2597fd24cd2 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_6-38-25_1265204346/pose.jsonl @@ -0,0 +1,2500 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -438.21664118822446, + 583.5550136181898, + -26.853284912883346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [] +} +{ + "action": { + "imageid": 1, + "pos": [ + -435.21664118822446, + 583.5550136181898, + -26.853284912883346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [] +} +{ + "action": { + "imageid": 2, + "pos": [ + -432.21664118822446, + 583.5550136181898, + -26.853284912883346 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + }, + "objects": [] +} +{ + "action": { + "imageid": 3, + "pos": [ + -432.21664118822446, + 583.5550136181898, + -26.853284912883346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -429.61856497687114, + 585.0550136181898, + -26.853284912883346 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -429.61856497687114, + 585.0550136181898, + -26.853284912883346 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -428.11856497687114, + 587.6530898295432, + -26.853284912883346 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -426.61856497687114, + 590.2511660408966, + -26.853284912883346 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -425.11856497687114, + 592.84924225225, + -26.853284912883346 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -423.61856497687114, + 595.4473184636033, + -26.853284912883346 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -422.11856497687114, + 598.0453946749567, + -26.853284912883346 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -420.61856497687114, + 600.6434708863101, + -26.853284912883346 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -419.11856497687114, + 603.2415470976634, + -26.853284912883346 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -417.61856497687114, + 605.8396233090168, + -26.853284912883346 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -416.11856497687114, + 608.4376995203702, + -26.853284912883346 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -414.61856497687114, + 611.0357757317236, + -26.853284912883346 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -413.11856497687114, + 613.6338519430769, + -26.853284912883346 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -413.11856497687114, + 613.6338519430769, + -26.853284912883346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -410.5204887655178, + 615.1338519430769, + -26.853284912883346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -407.9224125541645, + 616.6338519430769, + -26.853284912883346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -405.3243363428112, + 618.1338519430769, + -26.853284912883346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -402.7262601314579, + 619.6338519430769, + -26.853284912883346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -400.12818392010456, + 621.1338519430769, + -26.853284912883346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -397.53010770875125, + 622.6338519430769, + -26.853284912883346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -394.93203149739793, + 624.1338519430769, + -26.853284912883346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -392.3339552860446, + 625.6338519430769, + -26.853284912883346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -389.7358790746913, + 627.1338519430769, + -26.853284912883346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -387.137802863338, + 628.6338519430769, + -26.853284912883346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -384.53972665198467, + 630.1338519430769, + -26.853284912883346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -381.94165044063135, + 631.6338519430769, + -26.853284912883346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -379.34357422927803, + 633.1338519430769, + -26.853284912883346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -376.7454980179247, + 634.6338519430769, + -26.853284912883346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -374.1474218065714, + 636.1338519430769, + -26.853284912883346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -371.5493455952181, + 637.6338519430769, + -26.853284912883346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -368.95126938386477, + 639.1338519430769, + -26.853284912883346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -366.35319317251145, + 640.6338519430769, + -26.853284912883346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -363.75511696115814, + 642.1338519430769, + -26.853284912883346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -361.1570407498048, + 643.6338519430769, + -26.853284912883346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -358.5589645384515, + 645.1338519430769, + -26.853284912883346 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 39, + "pos": [ + -358.5589645384515, + 645.1338519430769, + -26.853284912883346 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 40, + "pos": [ + -357.0589645384515, + 647.7319281544303, + -26.853284912883346 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 41, + "pos": [ + -355.5589645384515, + 650.3300043657837, + -26.853284912883346 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_6-40-2_1630634994/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_6-40-2_1630634994/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..10df8a0aac35580473ca17cde592a72c2f53f7dc --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_6-40-2_1630634994/pose.jsonl @@ -0,0 +1,958 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -360.63432696549467, + 630.4368435686164, + -12.584380888843501 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -362.13432696549467, + 633.0349197799696, + -12.584380888843501 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -363.63432696549467, + 635.632995991323, + -12.584380888843501 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -365.13432696549467, + 638.2310722026764, + -12.584380888843501 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -366.63432696549467, + 640.8291484140298, + -12.584380888843501 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -368.13432696549467, + 643.4272246253831, + -12.584380888843501 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -369.63432696549467, + 646.0253008367365, + -12.584380888843501 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -371.13432696549467, + 648.6233770480899, + -12.584380888843501 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -372.63432696549467, + 651.2214532594433, + -12.584380888843501 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -374.13432696549467, + 653.8195294707966, + -12.584380888843501 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -375.63432696549467, + 656.41760568215, + -12.584380888843501 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -377.13432696549467, + 659.0156818935034, + -12.584380888843501 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -378.63432696549467, + 661.6137581048567, + -12.584380888843501 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -380.13432696549467, + 664.2118343162101, + -12.584380888843501 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -381.63432696549467, + 666.8099105275635, + -12.584380888843501 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -383.13432696549467, + 669.4079867389169, + -12.584380888843501 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -383.13432696549467, + 669.4079867389169, + -12.584380888843501 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -385.732403176848, + 670.9079867389169, + -12.584380888843501 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -388.3304793882013, + 672.4079867389169, + -12.584380888843501 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -390.9285555995546, + 673.9079867389169, + -12.584380888843501 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -393.52663181090793, + 675.4079867389169, + -12.584380888843501 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -396.12470802226125, + 676.9079867389169, + -12.584380888843501 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -398.72278423361456, + 678.4079867389169, + -12.584380888843501 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -401.3208604449679, + 679.9079867389169, + -12.584380888843501 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -403.9189366563212, + 681.4079867389169, + -12.584380888843501 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -406.5170128676745, + 682.9079867389169, + -12.584380888843501 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -409.1150890790278, + 684.4079867389169, + -12.584380888843501 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -409.1150890790278, + 684.4079867389169, + -12.584380888843501 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -410.6150890790278, + 687.0060629502702, + -12.584380888843501 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -412.1150890790278, + 689.6041391616236, + -12.584380888843501 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_6-49-48_1281830857/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_6-49-48_1281830857/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5ee8639309b5a21fb140a289a1ac382e2f0f9e15 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_6-49-48_1281830857/pose.jsonl @@ -0,0 +1,1215 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -798.4276696588879, + 285.511832009617, + -4.2409897632115765 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [] +} +{ + "action": { + "imageid": 1, + "pos": [ + -795.4276696588879, + 285.511832009617, + -4.2409897632115765 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [] +} +{ + "action": { + "imageid": 2, + "pos": [ + -792.4276696588879, + 285.511832009617, + -4.2409897632115765 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -789.4276696588879, + 285.511832009617, + -4.2409897632115765 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -786.4276696588879, + 285.511832009617, + -4.2409897632115765 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -783.4276696588879, + 285.511832009617, + -4.2409897632115765 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -780.4276696588879, + 285.511832009617, + -4.2409897632115765 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -777.4276696588879, + 285.511832009617, + -4.2409897632115765 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -774.4276696588879, + 285.511832009617, + -4.2409897632115765 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -771.4276696588879, + 285.511832009617, + -4.2409897632115765 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -768.4276696588879, + 285.511832009617, + -4.2409897632115765 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -765.4276696588879, + 285.511832009617, + -4.2409897632115765 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -762.4276696588879, + 285.511832009617, + -4.2409897632115765 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -759.4276696588879, + 285.511832009617, + -4.2409897632115765 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -756.4276696588879, + 285.511832009617, + -4.2409897632115765 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -753.4276696588879, + 285.511832009617, + -4.2409897632115765 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -750.4276696588879, + 285.511832009617, + -4.2409897632115765 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -747.4276696588879, + 285.511832009617, + -4.2409897632115765 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -744.4276696588879, + 285.511832009617, + -4.2409897632115765 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -741.4276696588879, + 285.511832009617, + -4.2409897632115765 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -738.4276696588879, + 285.511832009617, + -4.2409897632115765 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -735.4276696588879, + 285.511832009617, + -4.2409897632115765 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -732.4276696588879, + 285.511832009617, + -4.2409897632115765 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -729.4276696588879, + 285.511832009617, + -4.2409897632115765 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -726.4276696588879, + 285.511832009617, + -4.2409897632115765 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -723.4276696588879, + 285.511832009617, + -4.2409897632115765 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -720.4276696588879, + 285.511832009617, + -4.2409897632115765 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -717.4276696588879, + 285.511832009617, + -4.2409897632115765 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -714.4276696588879, + 285.511832009617, + -4.2409897632115765 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -711.4276696588879, + 285.511832009617, + -4.2409897632115765 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -708.4276696588879, + 285.511832009617, + -4.2409897632115765 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -705.4276696588879, + 285.511832009617, + -4.2409897632115765 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -702.4276696588879, + 285.511832009617, + -4.2409897632115765 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -699.4276696588879, + 285.511832009617, + -4.2409897632115765 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -696.4276696588879, + 285.511832009617, + -4.2409897632115765 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -693.4276696588879, + 285.511832009617, + -4.2409897632115765 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_6-5-54_1503885238/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_6-5-54_1503885238/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f5481c220b96844f0bde1c26cabacf5eb22c30b3 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_6-5-54_1503885238/pose.jsonl @@ -0,0 +1,1080 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -359.4366960068467, + 372.9526876895402, + -11.718788772999503 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -356.4366960068467, + 372.9526876895402, + -11.718788772999503 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -353.4366960068467, + 372.9526876895402, + -11.718788772999503 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -350.4366960068467, + 372.9526876895402, + -11.718788772999503 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -350.4366960068467, + 372.9526876895402, + -11.718788772999503 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -350.4366960068467, + 372.9526876895402, + -11.718788772999503 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -348.9366960068467, + 375.5507639008935, + -11.718788772999503 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -347.4366960068467, + 378.14884011224683, + -11.718788772999503 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -347.4366960068467, + 378.14884011224683, + -11.718788772999503 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -344.8386197954934, + 379.64884011224683, + -11.718788772999503 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -342.2405435841401, + 381.14884011224683, + -11.718788772999503 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -339.64246737278677, + 382.64884011224683, + -11.718788772999503 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -337.04439116143345, + 384.14884011224683, + -11.718788772999503 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -334.44631495008014, + 385.64884011224683, + -11.718788772999503 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -331.8482387387268, + 387.14884011224683, + -11.718788772999503 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -329.2501625273735, + 388.64884011224683, + -11.718788772999503 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -326.6520863160202, + 390.14884011224683, + -11.718788772999503 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -324.0540101046669, + 391.64884011224683, + -11.718788772999503 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -321.45593389331356, + 393.14884011224683, + -11.718788772999503 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -318.85785768196024, + 394.64884011224683, + -11.718788772999503 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -316.2597814706069, + 396.14884011224683, + -11.718788772999503 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -313.6617052592536, + 397.64884011224683, + -11.718788772999503 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -311.0636290479003, + 399.14884011224683, + -11.718788772999503 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -308.465552836547, + 400.64884011224683, + -11.718788772999503 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -305.86747662519366, + 402.14884011224683, + -11.718788772999503 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -303.26940041384034, + 403.64884011224683, + -11.718788772999503 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -300.671324202487, + 405.14884011224683, + -11.718788772999503 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -298.0732479911337, + 406.64884011224683, + -11.718788772999503 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -295.4751717797804, + 408.14884011224683, + -11.718788772999503 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -292.8770955684271, + 409.64884011224683, + -11.718788772999503 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -290.27901935707376, + 411.14884011224683, + -11.718788772999503 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -287.68094314572045, + 412.64884011224683, + -11.718788772999503 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -285.08286693436713, + 414.14884011224683, + -11.718788772999503 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + }, + "objects": [] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_6-52-11_318561886/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_6-52-11_318561886/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..78243f115044c5aa051396d888a1335551106dc6 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_6-52-11_318561886/pose.jsonl @@ -0,0 +1,1704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -419.607562671974, + 647.0616100319888, + -1.0475417942956717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -416.607562671974, + 647.0616100319888, + -1.0475417942956717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -413.607562671974, + 647.0616100319888, + -1.0475417942956717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -410.607562671974, + 647.0616100319888, + -1.0475417942956717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -407.607562671974, + 647.0616100319888, + -1.0475417942956717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -404.607562671974, + 647.0616100319888, + -1.0475417942956717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -401.607562671974, + 647.0616100319888, + -1.0475417942956717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -398.607562671974, + 647.0616100319888, + -1.0475417942956717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -395.607562671974, + 647.0616100319888, + -1.0475417942956717 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -395.607562671974, + 647.0616100319888, + -1.0475417942956717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -393.0094864606207, + 648.5616100319888, + -1.0475417942956717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -390.41141024926736, + 650.0616100319888, + -1.0475417942956717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -387.81333403791405, + 651.5616100319888, + -1.0475417942956717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -385.21525782656073, + 653.0616100319888, + -1.0475417942956717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -382.6171816152074, + 654.5616100319888, + -1.0475417942956717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -380.0191054038541, + 656.0616100319888, + -1.0475417942956717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -377.4210291925008, + 657.5616100319888, + -1.0475417942956717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -374.82295298114747, + 659.0616100319888, + -1.0475417942956717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -372.22487676979415, + 660.5616100319888, + -1.0475417942956717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -369.62680055844083, + 662.0616100319888, + -1.0475417942956717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -367.0287243470875, + 663.5616100319888, + -1.0475417942956717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -364.4306481357342, + 665.0616100319888, + -1.0475417942956717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -361.8325719243809, + 666.5616100319888, + -1.0475417942956717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -359.23449571302757, + 668.0616100319888, + -1.0475417942956717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -356.63641950167425, + 669.5616100319888, + -1.0475417942956717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -354.03834329032094, + 671.0616100319888, + -1.0475417942956717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -351.4402670789676, + 672.5616100319888, + -1.0475417942956717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -348.8421908676143, + 674.0616100319888, + -1.0475417942956717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -346.244114656261, + 675.5616100319888, + -1.0475417942956717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -343.6460384449077, + 677.0616100319888, + -1.0475417942956717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -341.04796223355436, + 678.5616100319888, + -1.0475417942956717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -338.44988602220104, + 680.0616100319888, + -1.0475417942956717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -335.8518098108477, + 681.5616100319888, + -1.0475417942956717 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + }, + "objects": [] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_6-55-8_1112720090/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_6-55-8_1112720090/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cc746bd8ccf6fe71dac8ceca3cb0f7fd6b44cf7f --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_6-55-8_1112720090/pose.jsonl @@ -0,0 +1,1400 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -811.1848106612213, + 592.2548727092038, + -9.401661087547048 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -811.1848106612213, + 589.2548727092038, + -9.401661087547048 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -811.1848106612213, + 586.2548727092038, + -9.401661087547048 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -811.1848106612213, + 583.2548727092038, + -9.401661087547048 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -811.1848106612213, + 580.2548727092038, + -9.401661087547048 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -811.1848106612213, + 577.2548727092038, + -9.401661087547048 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -811.1848106612213, + 574.2548727092038, + -9.401661087547048 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -811.1848106612213, + 571.2548727092038, + -9.401661087547048 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -811.1848106612213, + 568.2548727092038, + -9.401661087547048 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -811.1848106612213, + 565.2548727092038, + -9.401661087547048 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -811.1848106612213, + 562.2548727092038, + -9.401661087547048 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -811.1848106612213, + 559.2548727092038, + -9.401661087547048 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -811.1848106612213, + 556.2548727092038, + -9.401661087547048 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -811.1848106612213, + 553.2548727092038, + -9.401661087547048 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -811.1848106612213, + 550.2548727092038, + -9.401661087547048 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -811.1848106612213, + 547.2548727092038, + -9.401661087547048 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -811.1848106612213, + 544.2548727092038, + -9.401661087547048 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -811.1848106612213, + 541.2548727092038, + -9.401661087547048 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -811.1848106612213, + 538.2548727092038, + -9.401661087547048 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -811.1848106612213, + 535.2548727092038, + -9.401661087547048 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -811.1848106612213, + 532.2548727092038, + -9.401661087547048 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -811.1848106612213, + 529.2548727092038, + -9.401661087547048 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -811.1848106612213, + 529.2548727092038, + -9.401661087547048 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -812.6848106612213, + 526.6567964978506, + -9.401661087547048 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -814.1848106612213, + 524.0587202864972, + -9.401661087547048 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -815.6848106612213, + 521.4606440751438, + -9.401661087547048 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -817.1848106612213, + 518.8625678637904, + -9.401661087547048 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -818.6848106612213, + 516.2644916524371, + -9.401661087547048 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -820.1848106612213, + 513.6664154410837, + -9.401661087547048 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -821.6848106612213, + 511.0683392297304, + -9.401661087547048 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_7-16-14_478034945/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_7-16-14_478034945/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5ca9d24d75ee1e341f4665468fa380d0a0266937 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_7-16-14_478034945/pose.jsonl @@ -0,0 +1,1558 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -600.0465723291364, + 823.7394001270636, + -1.6751645576187073 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [] +} +{ + "action": { + "imageid": 1, + "pos": [ + -600.0465723291364, + 820.7394001270636, + -1.6751645576187073 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -600.0465723291364, + 817.7394001270636, + -1.6751645576187073 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -600.0465723291364, + 814.7394001270636, + -1.6751645576187073 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -600.0465723291364, + 811.7394001270636, + -1.6751645576187073 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -600.0465723291364, + 808.7394001270636, + -1.6751645576187073 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -600.0465723291364, + 805.7394001270636, + -1.6751645576187073 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -600.0465723291364, + 802.7394001270636, + -1.6751645576187073 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -600.0465723291364, + 799.7394001270636, + -1.6751645576187073 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -600.0465723291364, + 796.7394001270636, + -1.6751645576187073 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -600.0465723291364, + 793.7394001270636, + -1.6751645576187073 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -600.0465723291364, + 790.7394001270636, + -1.6751645576187073 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -600.0465723291364, + 787.7394001270636, + -1.6751645576187073 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -600.0465723291364, + 784.7394001270636, + -1.6751645576187073 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -600.0465723291364, + 781.7394001270636, + -1.6751645576187073 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -600.0465723291364, + 778.7394001270636, + -1.6751645576187073 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -600.0465723291364, + 775.7394001270636, + -1.6751645576187073 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -600.0465723291364, + 772.7394001270636, + -1.6751645576187073 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -600.0465723291364, + 769.7394001270636, + -1.6751645576187073 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -600.0465723291364, + 766.7394001270636, + -1.6751645576187073 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -600.0465723291364, + 763.7394001270636, + -1.6751645576187073 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -600.0465723291364, + 760.7394001270636, + -1.6751645576187073 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -600.0465723291364, + 760.7394001270636, + -1.6751645576187073 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -601.5465723291364, + 758.1413239157102, + -1.6751645576187073 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -603.0465723291364, + 755.5432477043569, + -1.6751645576187073 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -604.5465723291364, + 752.9451714930035, + -1.6751645576187073 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -606.0465723291364, + 750.3470952816501, + -1.6751645576187073 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -607.5465723291364, + 747.7490190702968, + -1.6751645576187073 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -609.0465723291364, + 745.1509428589434, + -1.6751645576187073 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -610.5465723291364, + 742.55286664759, + -1.6751645576187073 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -612.0465723291364, + 739.9547904362366, + -1.6751645576187073 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -613.5465723291364, + 737.3567142248833, + -1.6751645576187073 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -615.0465723291364, + 734.7586380135299, + -1.6751645576187073 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -616.5465723291364, + 732.1605618021765, + -1.6751645576187073 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -618.0465723291364, + 729.5624855908231, + -1.6751645576187073 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -618.0465723291364, + 729.5624855908231, + -1.6751645576187073 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -618.0465723291364, + 726.5624855908231, + -1.6751645576187073 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -618.0465723291364, + 723.5624855908231, + -1.6751645576187073 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_7-23-16_2037770478/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_7-23-16_2037770478/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..57342a49ab5b9f99055628d5612dcd974242efb4 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_7-23-16_2037770478/pose.jsonl @@ -0,0 +1,1630 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -472.1980832092632, + 525.6930564071614, + -8.491719196085509 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -473.6980832092632, + 523.0949801958081, + -8.491719196085509 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -475.1980832092632, + 520.4969039844548, + -8.491719196085509 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -476.6980832092632, + 517.8988277731014, + -8.491719196085509 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -478.1980832092632, + 515.300751561748, + -8.491719196085509 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -479.6980832092632, + 512.7026753503947, + -8.491719196085509 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -481.1980832092632, + 510.10459913904134, + -8.491719196085509 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -482.6980832092632, + 507.506522927688, + -8.491719196085509 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -484.1980832092632, + 504.9084467163347, + -8.491719196085509 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -485.6980832092632, + 502.3103705049814, + -8.491719196085509 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -487.1980832092632, + 499.7122942936281, + -8.491719196085509 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -488.6980832092632, + 497.11421808227476, + -8.491719196085509 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -490.1980832092632, + 494.51614187092144, + -8.491719196085509 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -491.6980832092632, + 491.91806565956813, + -8.491719196085509 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -493.1980832092632, + 489.3199894482148, + -8.491719196085509 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -494.6980832092632, + 486.7219132368615, + -8.491719196085509 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -496.1980832092632, + 484.1238370255082, + -8.491719196085509 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -497.6980832092632, + 481.52576081415486, + -8.491719196085509 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -499.1980832092632, + 478.92768460280155, + -8.491719196085509 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -500.6980832092632, + 476.32960839144823, + -8.491719196085509 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -502.1980832092632, + 473.7315321800949, + -8.491719196085509 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -503.6980832092632, + 471.1334559687416, + -8.491719196085509 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -505.1980832092632, + 468.5353797573883, + -8.491719196085509 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -506.6980832092632, + 465.93730354603497, + -8.491719196085509 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -508.1980832092632, + 463.33922733468165, + -8.491719196085509 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -508.1980832092632, + 463.33922733468165, + -8.491719196085509 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -508.1980832092632, + 460.33922733468165, + -8.491719196085509 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -508.1980832092632, + 457.33922733468165, + -8.491719196085509 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -508.1980832092632, + 454.33922733468165, + -8.491719196085509 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -508.1980832092632, + 451.33922733468165, + -8.491719196085509 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -508.1980832092632, + 448.33922733468165, + -8.491719196085509 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -508.1980832092632, + 445.33922733468165, + -8.491719196085509 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -508.1980832092632, + 442.33922733468165, + -8.491719196085509 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -508.1980832092632, + 439.33922733468165, + -8.491719196085509 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -508.1980832092632, + 436.33922733468165, + -8.491719196085509 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -508.1980832092632, + 433.33922733468165, + -8.491719196085509 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -508.1980832092632, + 430.33922733468165, + -8.491719196085509 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -508.1980832092632, + 427.33922733468165, + -8.491719196085509 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -508.1980832092632, + 424.33922733468165, + -8.491719196085509 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 39, + "pos": [ + -508.1980832092632, + 421.33922733468165, + -8.491719196085509 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 40, + "pos": [ + -508.1980832092632, + 418.33922733468165, + -8.491719196085509 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_7-43-31_773319847/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_7-43-31_773319847/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..832e858a4ea38507a9f9db75343881bceba353ff --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_7-43-31_773319847/pose.jsonl @@ -0,0 +1,1959 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -651.7214751974197, + 109.62477307472008, + -24.69556513643171 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -651.7214751974197, + 112.62477307472008, + -24.69556513643171 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -651.7214751974197, + 115.62477307472008, + -24.69556513643171 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -651.7214751974197, + 118.62477307472008, + -24.69556513643171 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -651.7214751974197, + 121.62477307472008, + -24.69556513643171 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -651.7214751974197, + 124.62477307472008, + -24.69556513643171 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -651.7214751974197, + 127.62477307472008, + -24.69556513643171 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -651.7214751974197, + 130.62477307472008, + -24.69556513643171 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -651.7214751974197, + 133.62477307472008, + -24.69556513643171 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -651.7214751974197, + 136.62477307472008, + -24.69556513643171 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -651.7214751974197, + 139.62477307472008, + -24.69556513643171 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -651.7214751974197, + 142.62477307472008, + -24.69556513643171 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -651.7214751974197, + 145.62477307472008, + -24.69556513643171 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -651.7214751974197, + 148.62477307472008, + -24.69556513643171 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -651.7214751974197, + 151.62477307472008, + -24.69556513643171 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -651.7214751974197, + 154.62477307472008, + -24.69556513643171 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -651.7214751974197, + 157.62477307472008, + -24.69556513643171 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -651.7214751974197, + 160.62477307472008, + -24.69556513643171 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -651.7214751974197, + 163.62477307472008, + -24.69556513643171 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -651.7214751974197, + 166.62477307472008, + -24.69556513643171 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -651.7214751974197, + 169.62477307472008, + -24.69556513643171 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -651.7214751974197, + 172.62477307472008, + -24.69556513643171 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -651.7214751974197, + 175.62477307472008, + -24.69556513643171 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -651.7214751974197, + 178.62477307472008, + -24.69556513643171 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -651.7214751974197, + 181.62477307472008, + -24.69556513643171 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -651.7214751974197, + 184.62477307472008, + -24.69556513643171 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -651.7214751974197, + 187.62477307472008, + -24.69556513643171 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -651.7214751974197, + 190.62477307472008, + -24.69556513643171 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -651.7214751974197, + 193.62477307472008, + -24.69556513643171 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -651.7214751974197, + 196.62477307472008, + -24.69556513643171 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -651.7214751974197, + 199.62477307472008, + -24.69556513643171 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -651.7214751974197, + 202.62477307472008, + -24.69556513643171 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -651.7214751974197, + 205.62477307472008, + -24.69556513643171 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -651.7214751974197, + 208.62477307472008, + -24.69556513643171 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -651.7214751974197, + 208.62477307472008, + -24.69556513643171 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -651.7214751974197, + 208.62477307472008, + -24.69556513643171 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -654.3195514087731, + 210.12477307472008, + -24.69556513643171 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -656.9176276201265, + 211.62477307472008, + -24.69556513643171 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -659.5157038314799, + 213.12477307472008, + -24.69556513643171 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 39, + "pos": [ + -662.1137800428332, + 214.62477307472008, + -24.69556513643171 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 40, + "pos": [ + -662.1137800428332, + 214.62477307472008, + -24.69556513643171 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 41, + "pos": [ + -663.6137800428332, + 217.2228492860734, + -24.69556513643171 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 42, + "pos": [ + -665.1137800428332, + 219.8209254974267, + -24.69556513643171 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_8-14-42_262692685/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_8-14-42_262692685/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7582e1141c415bb3fcc6000b47cedd13c696334b --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_8-14-42_262692685/pose.jsonl @@ -0,0 +1,1269 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -167.2235354882364, + 652.2915320800648, + -3.46576733448104 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 1, + "pos": [ + -170.2235354882364, + 652.2915320800648, + -3.46576733448104 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 2, + "pos": [ + -173.2235354882364, + 652.2915320800648, + -3.46576733448104 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 3, + "pos": [ + -176.2235354882364, + 652.2915320800648, + -3.46576733448104 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 4, + "pos": [ + -179.2235354882364, + 652.2915320800648, + -3.46576733448104 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 5, + "pos": [ + -182.2235354882364, + 652.2915320800648, + -3.46576733448104 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 6, + "pos": [ + -185.2235354882364, + 652.2915320800648, + -3.46576733448104 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -188.2235354882364, + 652.2915320800648, + -3.46576733448104 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -191.2235354882364, + 652.2915320800648, + -3.46576733448104 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -194.2235354882364, + 652.2915320800648, + -3.46576733448104 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -197.2235354882364, + 652.2915320800648, + -3.46576733448104 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -200.2235354882364, + 652.2915320800648, + -3.46576733448104 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -203.2235354882364, + 652.2915320800648, + -3.46576733448104 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -206.2235354882364, + 652.2915320800648, + -3.46576733448104 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -209.2235354882364, + 652.2915320800648, + -3.46576733448104 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -212.2235354882364, + 652.2915320800648, + -3.46576733448104 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -215.2235354882364, + 652.2915320800648, + -3.46576733448104 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -218.2235354882364, + 652.2915320800648, + -3.46576733448104 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -221.2235354882364, + 652.2915320800648, + -3.46576733448104 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -224.2235354882364, + 652.2915320800648, + -3.46576733448104 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -227.2235354882364, + 652.2915320800648, + -3.46576733448104 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -230.2235354882364, + 652.2915320800648, + -3.46576733448104 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -233.2235354882364, + 652.2915320800648, + -3.46576733448104 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -236.2235354882364, + 652.2915320800648, + -3.46576733448104 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -239.2235354882364, + 652.2915320800648, + -3.46576733448104 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -242.2235354882364, + 652.2915320800648, + -3.46576733448104 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -245.2235354882364, + 652.2915320800648, + -3.46576733448104 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -248.2235354882364, + 652.2915320800648, + -3.46576733448104 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -251.2235354882364, + 652.2915320800648, + -3.46576733448104 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -254.2235354882364, + 652.2915320800648, + -3.46576733448104 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -257.2235354882364, + 652.2915320800648, + -3.46576733448104 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -260.2235354882364, + 652.2915320800648, + -3.46576733448104 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -263.2235354882364, + 652.2915320800648, + -3.46576733448104 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -266.2235354882364, + 652.2915320800648, + -3.46576733448104 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -269.2235354882364, + 652.2915320800648, + -3.46576733448104 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -269.2235354882364, + 652.2915320800648, + -3.46576733448104 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -271.8216116995897, + 653.7915320800648, + -3.46576733448104 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -274.419687910943, + 655.2915320800648, + -3.46576733448104 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -277.01776412229634, + 656.7915320800648, + -3.46576733448104 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_8-17-48_1985433483/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_8-17-48_1985433483/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..86f3a9dfcf94e1542471aa871153bfdca552b53d --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_8-17-48_1985433483/pose.jsonl @@ -0,0 +1,2488 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -337.0482603710597, + 549.88896473338, + -5.955204631732599 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -337.0482603710597, + 552.88896473338, + -5.955204631732599 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -337.0482603710597, + 555.88896473338, + -5.955204631732599 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -337.0482603710597, + 558.88896473338, + -5.955204631732599 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -337.0482603710597, + 561.88896473338, + -5.955204631732599 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -337.0482603710597, + 564.88896473338, + -5.955204631732599 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -337.0482603710597, + 567.88896473338, + -5.955204631732599 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -337.0482603710597, + 570.88896473338, + -5.955204631732599 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -337.0482603710597, + 573.88896473338, + -5.955204631732599 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -337.0482603710597, + 576.88896473338, + -5.955204631732599 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -337.0482603710597, + 579.88896473338, + -5.955204631732599 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -337.0482603710597, + 582.88896473338, + -5.955204631732599 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -337.0482603710597, + 585.88896473338, + -5.955204631732599 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -337.0482603710597, + 588.88896473338, + -5.955204631732599 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -337.0482603710597, + 591.88896473338, + -5.955204631732599 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -337.0482603710597, + 594.88896473338, + -5.955204631732599 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -337.0482603710597, + 597.88896473338, + -5.955204631732599 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -337.0482603710597, + 600.88896473338, + -5.955204631732599 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -337.0482603710597, + 603.88896473338, + -5.955204631732599 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -337.0482603710597, + 606.88896473338, + -5.955204631732599 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -337.0482603710597, + 609.88896473338, + -5.955204631732599 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -337.0482603710597, + 612.88896473338, + -5.955204631732599 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -337.0482603710597, + 615.88896473338, + -5.955204631732599 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -337.0482603710597, + 618.88896473338, + -5.955204631732599 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -337.0482603710597, + 621.88896473338, + -5.955204631732599 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -337.0482603710597, + 624.88896473338, + -5.955204631732599 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -337.0482603710597, + 627.88896473338, + -5.955204631732599 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -337.0482603710597, + 627.88896473338, + -5.955204631732599 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -337.0482603710597, + 627.88896473338, + -5.955204631732599 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -339.646336582413, + 629.38896473338, + -5.955204631732599 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -342.24441279376634, + 630.88896473338, + -5.955204631732599 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -344.84248900511966, + 632.38896473338, + -5.955204631732599 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -344.84248900511966, + 632.38896473338, + -5.955204631732599 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -346.34248900511966, + 634.9870409447333, + -5.955204631732599 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -347.84248900511966, + 637.5851171560867, + -5.955204631732599 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -349.34248900511966, + 640.18319336744, + -5.955204631732599 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -350.84248900511966, + 642.7812695787934, + -5.955204631732599 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -352.34248900511966, + 645.3793457901468, + -5.955204631732599 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -353.84248900511966, + 647.9774220015001, + -5.955204631732599 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 39, + "pos": [ + -355.34248900511966, + 650.5754982128535, + -5.955204631732599 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 40, + "pos": [ + -356.84248900511966, + 653.1735744242069, + -5.955204631732599 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_8-25-50_29777560/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_8-25-50_29777560/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..acc5c05481af9df867adc3d3cef09c0a323bc73c --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_8-25-50_29777560/pose.jsonl @@ -0,0 +1,1461 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -499.15658683632773, + 349.9329016614664, + -6.0854759711456055 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [] +} +{ + "action": { + "imageid": 1, + "pos": [ + -500.65658683632773, + 347.3348254501131, + -6.0854759711456055 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -502.15658683632773, + 344.7367492387598, + -6.0854759711456055 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -503.65658683632773, + 342.13867302740647, + -6.0854759711456055 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -505.15658683632773, + 339.54059681605315, + -6.0854759711456055 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -506.65658683632773, + 336.94252060469984, + -6.0854759711456055 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -508.15658683632773, + 334.3444443933465, + -6.0854759711456055 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -509.65658683632773, + 331.7463681819932, + -6.0854759711456055 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -511.15658683632773, + 329.1482919706399, + -6.0854759711456055 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -512.6565868363277, + 326.5502157592866, + -6.0854759711456055 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -514.1565868363277, + 323.95213954793326, + -6.0854759711456055 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -515.6565868363277, + 321.35406333657994, + -6.0854759711456055 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -517.1565868363277, + 318.7559871252266, + -6.0854759711456055 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -518.6565868363277, + 316.1579109138733, + -6.0854759711456055 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -520.1565868363277, + 313.55983470252, + -6.0854759711456055 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -521.6565868363277, + 310.9617584911667, + -6.0854759711456055 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -523.1565868363277, + 308.36368227981336, + -6.0854759711456055 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -524.6565868363277, + 305.76560606846004, + -6.0854759711456055 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -526.1565868363277, + 303.16752985710673, + -6.0854759711456055 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -527.6565868363277, + 300.5694536457534, + -6.0854759711456055 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -529.1565868363277, + 297.9713774344001, + -6.0854759711456055 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -530.6565868363277, + 295.3733012230468, + -6.0854759711456055 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -532.1565868363277, + 292.77522501169346, + -6.0854759711456055 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -533.6565868363277, + 290.17714880034015, + -6.0854759711456055 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -535.1565868363277, + 287.57907258898683, + -6.0854759711456055 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -536.6565868363277, + 284.9809963776335, + -6.0854759711456055 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -538.1565868363277, + 282.3829201662802, + -6.0854759711456055 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -539.6565868363277, + 279.7848439549269, + -6.0854759711456055 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -541.1565868363277, + 277.18676774357357, + -6.0854759711456055 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -542.6565868363277, + 274.58869153222025, + -6.0854759711456055 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -542.6565868363277, + 274.58869153222025, + -6.0854759711456055 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -542.6565868363277, + 271.58869153222025, + -6.0854759711456055 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -542.6565868363277, + 268.58869153222025, + -6.0854759711456055 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -542.6565868363277, + 265.58869153222025, + -6.0854759711456055 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -542.6565868363277, + 262.58869153222025, + -6.0854759711456055 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_8-38-43_74552805/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_8-38-43_74552805/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5b5e04323c38628c36b179dca2e370dc1e5e9df2 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_8-38-43_74552805/pose.jsonl @@ -0,0 +1,1036 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -28.483804734278436, + 56.23429648363164, + -4.232440824179395 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [] +} +{ + "action": { + "imageid": 1, + "pos": [ + -25.88572852292512, + 54.73429648363164, + -4.232440824179395 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + }, + "objects": [] +} +{ + "action": { + "imageid": 2, + "pos": [ + -25.88572852292512, + 54.73429648363164, + -4.232440824179395 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + }, + "objects": [] +} +{ + "action": { + "imageid": 3, + "pos": [ + -24.38572852292512, + 52.13622027227832, + -4.232440824179395 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [] +} +{ + "action": { + "imageid": 4, + "pos": [ + -22.88572852292512, + 49.538144060925006, + -4.232440824179395 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + }, + "objects": [] +} +{ + "action": { + "imageid": 5, + "pos": [ + -22.88572852292512, + 49.538144060925006, + -4.232440824179395 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + }, + "objects": [] +} +{ + "action": { + "imageid": 6, + "pos": [ + -20.287652311571804, + 48.038144060925006, + -4.232440824179395 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [] +} +{ + "action": { + "imageid": 7, + "pos": [ + -17.68957610021849, + 46.538144060925006, + -4.232440824179395 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [] +} +{ + "action": { + "imageid": 8, + "pos": [ + -15.091499888865172, + 45.038144060925006, + -4.232440824179395 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -12.493423677511856, + 43.538144060925006, + -4.232440824179395 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -9.89534746615854, + 42.038144060925006, + -4.232440824179395 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -7.297271254805224, + 40.538144060925006, + -4.232440824179395 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -4.699195043451908, + 39.038144060925006, + -4.232440824179395 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -2.1011188320985923, + 37.538144060925006, + -4.232440824179395 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + 0.4969573792547237, + 36.038144060925006, + -4.232440824179395 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + 3.0950335906080397, + 34.538144060925006, + -4.232440824179395 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + 5.693109801961356, + 33.038144060925006, + -4.232440824179395 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + 8.291186013314672, + 31.538144060925006, + -4.232440824179395 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + 10.889262224667988, + 30.038144060925006, + -4.232440824179395 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + 13.487338436021304, + 28.538144060925006, + -4.232440824179395 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + 16.08541464737462, + 27.038144060925006, + -4.232440824179395 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + 18.683490858727936, + 25.538144060925006, + -4.232440824179395 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + 21.281567070081252, + 24.038144060925006, + -4.232440824179395 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + 23.879643281434568, + 22.538144060925006, + -4.232440824179395 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + 26.477719492787884, + 21.038144060925006, + -4.232440824179395 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + 29.0757957041412, + 19.538144060925006, + -4.232440824179395 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + 31.673871915494516, + 18.038144060925006, + -4.232440824179395 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + 34.27194812684783, + 16.538144060925006, + -4.232440824179395 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + 36.87002433820115, + 15.038144060925006, + -4.232440824179395 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + 39.468100549554464, + 13.538144060925006, + -4.232440824179395 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + 42.06617676090778, + 12.038144060925006, + -4.232440824179395 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + 44.664252972261096, + 10.538144060925006, + -4.232440824179395 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + 47.26232918361441, + 9.038144060925006, + -4.232440824179395 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + 49.86040539496773, + 7.538144060925006, + -4.232440824179395 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + 52.458481606321044, + 6.038144060925006, + -4.232440824179395 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + 55.05655781767436, + 4.538144060925006, + -4.232440824179395 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + 57.654634029027676, + 3.0381440609250063, + -4.232440824179395 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + 60.25271024038099, + 1.5381440609250066, + -4.232440824179395 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + 62.85078645173431, + 0.03814406092500677, + -4.232440824179395 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + }, + "objects": [] +} +{ + "action": { + "imageid": 39, + "pos": [ + 62.85078645173431, + 0.03814406092500677, + -4.232440824179395 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 40, + "pos": [ + 64.35078645173431, + -2.5599321504283092, + -4.232440824179395 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_8-50-4_733327814/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_8-50-4_733327814/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4edd4a86e66da21cceb7b7adac1b41d4909ab7c8 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_8-50-4_733327814/pose.jsonl @@ -0,0 +1,1322 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -107.4830788343716, + 393.0817203506613, + -8.839271023120808 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -104.4830788343716, + 393.0817203506613, + -8.839271023120808 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -101.4830788343716, + 393.0817203506613, + -8.839271023120808 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -98.4830788343716, + 393.0817203506613, + -8.839271023120808 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -95.4830788343716, + 393.0817203506613, + -8.839271023120808 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -92.4830788343716, + 393.0817203506613, + -8.839271023120808 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -89.4830788343716, + 393.0817203506613, + -8.839271023120808 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -86.4830788343716, + 393.0817203506613, + -8.839271023120808 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -83.4830788343716, + 393.0817203506613, + -8.839271023120808 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -80.4830788343716, + 393.0817203506613, + -8.839271023120808 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -77.4830788343716, + 393.0817203506613, + -8.839271023120808 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -74.4830788343716, + 393.0817203506613, + -8.839271023120808 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -71.4830788343716, + 393.0817203506613, + -8.839271023120808 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -68.4830788343716, + 393.0817203506613, + -8.839271023120808 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -65.4830788343716, + 393.0817203506613, + -8.839271023120808 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -62.4830788343716, + 393.0817203506613, + -8.839271023120808 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -59.4830788343716, + 393.0817203506613, + -8.839271023120808 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -56.4830788343716, + 393.0817203506613, + -8.839271023120808 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -53.4830788343716, + 393.0817203506613, + -8.839271023120808 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -50.4830788343716, + 393.0817203506613, + -8.839271023120808 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -47.4830788343716, + 393.0817203506613, + -8.839271023120808 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -44.4830788343716, + 393.0817203506613, + -8.839271023120808 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -41.4830788343716, + 393.0817203506613, + -8.839271023120808 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -38.4830788343716, + 393.0817203506613, + -8.839271023120808 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -35.4830788343716, + 393.0817203506613, + -8.839271023120808 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -35.4830788343716, + 393.0817203506613, + -8.839271023120808 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -35.4830788343716, + 393.0817203506613, + -8.839271023120808 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -33.9830788343716, + 390.483644139308, + -8.839271023120808 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -32.4830788343716, + 387.8855679279547, + -8.839271023120808 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -30.983078834371597, + 385.2874917166014, + -8.839271023120808 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_8-58-7_639806732/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_8-58-7_639806732/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..64c8a55fe921291ad008d07c296d1e2f45f14062 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_8-58-7_639806732/pose.jsonl @@ -0,0 +1,1332 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -229.49263558854312, + 547.1131710471554, + -28.073117260734907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -232.09071179989644, + 548.6131710471554, + -28.073117260734907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -234.68878801124976, + 550.1131710471554, + -28.073117260734907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -237.28686422260307, + 551.6131710471554, + -28.073117260734907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -239.8849404339564, + 553.1131710471554, + -28.073117260734907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -242.4830166453097, + 554.6131710471554, + -28.073117260734907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -245.08109285666302, + 556.1131710471554, + -28.073117260734907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -247.67916906801634, + 557.6131710471554, + -28.073117260734907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -250.27724527936965, + 559.1131710471554, + -28.073117260734907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -252.87532149072297, + 560.6131710471554, + -28.073117260734907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -255.47339770207628, + 562.1131710471554, + -28.073117260734907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -258.0714739134296, + 563.6131710471554, + -28.073117260734907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -260.6695501247829, + 565.1131710471554, + -28.073117260734907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -263.26762633613623, + 566.6131710471554, + -28.073117260734907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -265.86570254748955, + 568.1131710471554, + -28.073117260734907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -268.46377875884286, + 569.6131710471554, + -28.073117260734907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -271.0618549701962, + 571.1131710471554, + -28.073117260734907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -273.6599311815495, + 572.6131710471554, + -28.073117260734907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -276.2580073929028, + 574.1131710471554, + -28.073117260734907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -278.8560836042561, + 575.6131710471554, + -28.073117260734907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -281.45415981560944, + 577.1131710471554, + -28.073117260734907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -284.05223602696276, + 578.6131710471554, + -28.073117260734907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -286.6503122383161, + 580.1131710471554, + -28.073117260734907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -289.2483884496694, + 581.6131710471554, + -28.073117260734907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -291.8464646610227, + 583.1131710471554, + -28.073117260734907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -294.444540872376, + 584.6131710471554, + -28.073117260734907 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -294.444540872376, + 584.6131710471554, + -28.073117260734907 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 27, + "pos": [ + -297.444540872376, + 584.6131710471554, + -28.073117260734907 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 28, + "pos": [ + -300.444540872376, + 584.6131710471554, + -28.073117260734907 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 29, + "pos": [ + -303.444540872376, + 584.6131710471554, + -28.073117260734907 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 30, + "pos": [ + -306.444540872376, + 584.6131710471554, + -28.073117260734907 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_8-6-32_1372261796/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_8-6-32_1372261796/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a478e31bc26095118d8a6d69d83e62660347f0ec --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_8-6-32_1372261796/pose.jsonl @@ -0,0 +1,1299 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 29.527217917349248, + 314.19333926787124, + -0.5703098646769291 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + 28.027217917349248, + 316.79141547922455, + -0.5703098646769291 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + 26.527217917349248, + 319.38949169057787, + -0.5703098646769291 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + 25.027217917349248, + 321.9875679019312, + -0.5703098646769291 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + 23.527217917349248, + 324.5856441132845, + -0.5703098646769291 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + 22.027217917349248, + 327.1837203246378, + -0.5703098646769291 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + 20.527217917349248, + 329.78179653599113, + -0.5703098646769291 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + 19.027217917349248, + 332.37987274734445, + -0.5703098646769291 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + 17.527217917349248, + 334.97794895869777, + -0.5703098646769291 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + 16.027217917349248, + 337.5760251700511, + -0.5703098646769291 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + 14.527217917349248, + 340.1741013814044, + -0.5703098646769291 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + 13.027217917349248, + 342.7721775927577, + -0.5703098646769291 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + 11.527217917349248, + 345.37025380411103, + -0.5703098646769291 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + 10.027217917349248, + 347.96833001546435, + -0.5703098646769291 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + 8.527217917349248, + 350.56640622681766, + -0.5703098646769291 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + 7.027217917349248, + 353.164482438171, + -0.5703098646769291 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + 5.527217917349249, + 355.7625586495243, + -0.5703098646769291 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + 4.02721791734925, + 358.3606348608776, + -0.5703098646769291 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + 2.527217917349251, + 360.9587110722309, + -0.5703098646769291 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + 1.0272179173492517, + 363.55678728358424, + -0.5703098646769291 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + 1.0272179173492517, + 363.55678728358424, + -0.5703098646769291 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -1.5708582940040643, + 365.05678728358424, + -0.5703098646769291 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -4.16893450535738, + 366.55678728358424, + -0.5703098646769291 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -6.767010716710696, + 368.05678728358424, + -0.5703098646769291 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -9.365086928064013, + 369.55678728358424, + -0.5703098646769291 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -11.963163139417329, + 371.05678728358424, + -0.5703098646769291 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -14.561239350770645, + 372.55678728358424, + -0.5703098646769291 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -17.15931556212396, + 374.05678728358424, + -0.5703098646769291 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -19.757391773477277, + 375.55678728358424, + -0.5703098646769291 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -22.355467984830593, + 377.05678728358424, + -0.5703098646769291 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -24.95354419618391, + 378.55678728358424, + -0.5703098646769291 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -27.551620407537225, + 380.05678728358424, + -0.5703098646769291 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + }, + "objects": [] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_9-12-22_362575055/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_9-12-22_362575055/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..63491c9e3868230052f095e5b07ed140a4c9e623 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_9-12-22_362575055/pose.jsonl @@ -0,0 +1,1471 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -425.50385289087944, + 523.3230390485643, + -27.819035753699794 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -428.10192910223276, + 521.8230390485643, + -27.819035753699794 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -430.7000053135861, + 520.3230390485643, + -27.819035753699794 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -433.2980815249394, + 518.8230390485643, + -27.819035753699794 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -435.8961577362927, + 517.3230390485643, + -27.819035753699794 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -438.494233947646, + 515.8230390485643, + -27.819035753699794 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -441.09231015899934, + 514.3230390485643, + -27.819035753699794 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -443.69038637035266, + 512.8230390485643, + -27.819035753699794 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -446.28846258170597, + 511.3230390485643, + -27.819035753699794 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -448.8865387930593, + 509.8230390485643, + -27.819035753699794 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -451.4846150044126, + 508.3230390485643, + -27.819035753699794 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -454.0826912157659, + 506.8230390485643, + -27.819035753699794 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -456.68076742711924, + 505.3230390485643, + -27.819035753699794 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -459.27884363847255, + 503.8230390485643, + -27.819035753699794 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -461.87691984982587, + 502.3230390485643, + -27.819035753699794 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -464.4749960611792, + 500.8230390485643, + -27.819035753699794 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -467.0730722725325, + 499.3230390485643, + -27.819035753699794 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -469.6711484838858, + 497.8230390485643, + -27.819035753699794 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -472.26922469523913, + 496.3230390485643, + -27.819035753699794 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -474.86730090659245, + 494.8230390485643, + -27.819035753699794 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -477.46537711794576, + 493.3230390485643, + -27.819035753699794 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -477.46537711794576, + 493.3230390485643, + -27.819035753699794 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -480.46537711794576, + 493.3230390485643, + -27.819035753699794 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -483.46537711794576, + 493.3230390485643, + -27.819035753699794 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -486.46537711794576, + 493.3230390485643, + -27.819035753699794 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -489.46537711794576, + 493.3230390485643, + -27.819035753699794 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -492.46537711794576, + 493.3230390485643, + -27.819035753699794 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -495.46537711794576, + 493.3230390485643, + -27.819035753699794 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -498.46537711794576, + 493.3230390485643, + -27.819035753699794 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -501.46537711794576, + 493.3230390485643, + -27.819035753699794 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -504.46537711794576, + 493.3230390485643, + -27.819035753699794 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -507.46537711794576, + 493.3230390485643, + -27.819035753699794 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -510.46537711794576, + 493.3230390485643, + -27.819035753699794 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_9-22-13_2000419805/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_9-22-13_2000419805/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..138f53b00754f7d4d9a2c032378319f9885709d3 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_9-22-13_2000419805/pose.jsonl @@ -0,0 +1,2048 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -721.9727129743881, + 699.8252866564167, + -10.982836639039995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -720.4727129743881, + 697.2272104450633, + -10.982836639039995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -718.9727129743881, + 694.6291342337099, + -10.982836639039995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -717.4727129743881, + 692.0310580223565, + -10.982836639039995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -715.9727129743881, + 689.4329818110032, + -10.982836639039995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -714.4727129743881, + 686.8349055996498, + -10.982836639039995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -712.9727129743881, + 684.2368293882964, + -10.982836639039995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -711.4727129743881, + 681.638753176943, + -10.982836639039995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -709.9727129743881, + 679.0406769655897, + -10.982836639039995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -708.4727129743881, + 676.4426007542363, + -10.982836639039995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -706.9727129743881, + 673.8445245428829, + -10.982836639039995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -705.4727129743881, + 671.2464483315296, + -10.982836639039995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -703.9727129743881, + 668.6483721201762, + -10.982836639039995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -702.4727129743881, + 666.0502959088228, + -10.982836639039995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -700.9727129743881, + 663.4522196974694, + -10.982836639039995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -699.4727129743881, + 660.8541434861161, + -10.982836639039995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -697.9727129743881, + 658.2560672747627, + -10.982836639039995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -696.4727129743881, + 655.6579910634093, + -10.982836639039995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -694.9727129743881, + 653.059914852056, + -10.982836639039995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -693.4727129743881, + 650.4618386407026, + -10.982836639039995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -691.9727129743881, + 647.8637624293492, + -10.982836639039995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -690.4727129743881, + 645.2656862179958, + -10.982836639039995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -688.9727129743881, + 642.6676100066425, + -10.982836639039995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -687.4727129743881, + 640.0695337952891, + -10.982836639039995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -685.9727129743881, + 637.4714575839357, + -10.982836639039995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -684.4727129743881, + 634.8733813725823, + -10.982836639039995 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -684.4727129743881, + 634.8733813725823, + -10.982836639039995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -681.8746367630347, + 633.3733813725823, + -10.982836639039995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -679.2765605516813, + 631.8733813725823, + -10.982836639039995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -676.6784843403279, + 630.3733813725823, + -10.982836639039995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -674.0804081289746, + 628.8733813725823, + -10.982836639039995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -671.4823319176212, + 627.3733813725823, + -10.982836639039995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -668.8842557062678, + 625.8733813725823, + -10.982836639039995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -666.2861794949144, + 624.3733813725823, + -10.982836639039995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -663.6881032835611, + 622.8733813725823, + -10.982836639039995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -661.0900270722077, + 621.3733813725823, + -10.982836639039995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -658.4919508608543, + 619.8733813725823, + -10.982836639039995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -655.893874649501, + 618.3733813725823, + -10.982836639039995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -653.2957984381476, + 616.8733813725823, + -10.982836639039995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 39, + "pos": [ + -650.6977222267942, + 615.3733813725823, + -10.982836639039995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 40, + "pos": [ + -648.0996460154408, + 613.8733813725823, + -10.982836639039995 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 41, + "pos": [ + -645.5015698040875, + 612.3733813725823, + -10.982836639039995 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_9-30-52_714880226/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_9-30-52_714880226/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..daf723cdcecfef32315179cbb78ce4639213e393 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_9-30-52_714880226/pose.jsonl @@ -0,0 +1,1049 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -15.210936259251405, + 254.57494765044444, + -11.324687042016958 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -13.710936259251405, + 251.97687143909113, + -11.324687042016958 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -12.210936259251405, + 249.3787952277378, + -11.324687042016958 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -10.710936259251405, + 246.7807190163845, + -11.324687042016958 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -9.210936259251405, + 244.18264280503118, + -11.324687042016958 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -7.710936259251405, + 241.58456659367786, + -11.324687042016958 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -6.210936259251405, + 238.98649038232455, + -11.324687042016958 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -4.710936259251405, + 236.38841417097123, + -11.324687042016958 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -3.210936259251404, + 233.79033795961791, + -11.324687042016958 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -1.7109362592514037, + 231.1922617482646, + -11.324687042016958 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -0.21093625925140325, + 228.59418553691128, + -11.324687042016958 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + 1.2890637407485972, + 225.99610932555797, + -11.324687042016958 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + 2.7890637407485976, + 223.39803311420465, + -11.324687042016958 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + 4.289063740748598, + 220.79995690285133, + -11.324687042016958 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + 5.789063740748599, + 218.20188069149802, + -11.324687042016958 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965974 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + 7.289063740748599, + 215.6038044801447, + -11.324687042016958 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + 8.789063740748599, + 213.0057282687914, + -11.324687042016958 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + 10.289063740748599, + 210.40765205743807, + -11.324687042016958 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + 11.789063740748599, + 207.80957584608475, + -11.324687042016958 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + 13.289063740748599, + 205.21149963473144, + -11.324687042016958 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + 13.289063740748599, + 205.21149963473144, + -11.324687042016958 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + 15.887139952101915, + 203.71149963473144, + -11.324687042016958 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + 18.48521616345523, + 202.21149963473144, + -11.324687042016958 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + 21.083292374808547, + 200.71149963473144, + -11.324687042016958 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + 23.681368586161863, + 199.21149963473144, + -11.324687042016958 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + 26.27944479751518, + 197.71149963473144, + -11.324687042016958 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + 28.877521008868495, + 196.21149963473144, + -11.324687042016958 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + 31.47559722022181, + 194.71149963473144, + -11.324687042016958 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + 34.07367343157513, + 193.21149963473144, + -11.324687042016958 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982983 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + 36.67174964292845, + 191.71149963473144, + -11.324687042016958 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_9-30-8_1510080967/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_9-30-8_1510080967/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5b86e6eb462b3bae62a9b72e5346518557a69afb --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_9-30-8_1510080967/pose.jsonl @@ -0,0 +1,1954 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -290.73279094964505, + 663.0078172532213, + -0.4607377314602985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -289.23279094964505, + 660.4097410418681, + -0.4607377314602985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -287.73279094964505, + 657.8116648305147, + -0.4607377314602985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -286.23279094964505, + 655.2135886191613, + -0.4607377314602985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -284.73279094964505, + 652.615512407808, + -0.4607377314602985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -283.23279094964505, + 650.0174361964546, + -0.4607377314602985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -281.73279094964505, + 647.4193599851012, + -0.4607377314602985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -280.23279094964505, + 644.8212837737478, + -0.4607377314602985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -278.73279094964505, + 642.2232075623945, + -0.4607377314602985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -277.23279094964505, + 639.6251313510411, + -0.4607377314602985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -275.73279094964505, + 637.0270551396877, + -0.4607377314602985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -274.23279094964505, + 634.4289789283343, + -0.4607377314602985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -272.73279094964505, + 631.830902716981, + -0.4607377314602985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -271.23279094964505, + 629.2328265056276, + -0.4607377314602985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -269.73279094964505, + 626.6347502942742, + -0.4607377314602985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -268.23279094964505, + 624.0366740829209, + -0.4607377314602985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -266.73279094964505, + 621.4385978715675, + -0.4607377314602985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -265.23279094964505, + 618.8405216602141, + -0.4607377314602985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -263.73279094964505, + 616.2424454488607, + -0.4607377314602985 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -263.73279094964505, + 616.2424454488607, + -0.4607377314602985 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -261.13471473829173, + 614.7424454488607, + -0.4607377314602985 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -258.5366385269384, + 613.2424454488607, + -0.4607377314602985 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -255.9385623155851, + 611.7424454488607, + -0.4607377314602985 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -253.3404861042318, + 610.2424454488607, + -0.4607377314602985 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -250.74240989287847, + 608.7424454488607, + -0.4607377314602985 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -248.14433368152515, + 607.2424454488607, + -0.4607377314602985 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -245.54625747017184, + 605.7424454488607, + -0.4607377314602985 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -242.94818125881852, + 604.2424454488607, + -0.4607377314602985 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -240.3501050474652, + 602.7424454488607, + -0.4607377314602985 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -237.7520288361119, + 601.2424454488607, + -0.4607377314602985 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -237.7520288361119, + 601.2424454488607, + -0.4607377314602985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -236.2520288361119, + 598.6443692375074, + -0.4607377314602985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -234.7520288361119, + 596.046293026154, + -0.4607377314602985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -233.2520288361119, + 593.4482168148006, + -0.4607377314602985 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_9-37-15_1290127955/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_9-37-15_1290127955/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..36562d73c645d50ebe28c781a4c354e18ef3fbe0 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_9-37-15_1290127955/pose.jsonl @@ -0,0 +1,966 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -296.3952475111419, + 382.4874120809232, + -6.8584314666784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -297.8952475111419, + 379.8893358695699, + -6.8584314666784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -335.2635250091553, + 293.34011459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -299.3952475111419, + 377.2912596582166, + -6.8584314666784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -335.2635250091553, + 293.34011459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -300.8952475111419, + 374.69318344686326, + -6.8584314666784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -335.2635250091553, + 293.34011459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -302.3952475111419, + 372.09510723550994, + -6.8584314666784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -335.2635250091553, + 293.34011459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -303.8952475111419, + 369.4970310241566, + -6.8584314666784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -335.2635250091553, + 293.34011459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -305.3952475111419, + 366.8989548128033, + -6.8584314666784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -335.2635250091553, + 293.34011459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -306.8952475111419, + 364.30087860145, + -6.8584314666784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -335.2635250091553, + 293.34011459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -308.3952475111419, + 361.7028023900967, + -6.8584314666784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -335.2635250091553, + 293.34011459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -309.8952475111419, + 359.10472617874336, + -6.8584314666784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -335.2635250091553, + 293.34011459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -311.3952475111419, + 356.50664996739005, + -6.8584314666784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -335.2635250091553, + 293.34011459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -312.8952475111419, + 353.90857375603673, + -6.8584314666784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -335.2635250091553, + 293.34011459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -314.3952475111419, + 351.3104975446834, + -6.8584314666784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -335.2635250091553, + 293.34011459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -315.8952475111419, + 348.7124213333301, + -6.8584314666784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -335.2635250091553, + 293.34011459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -317.3952475111419, + 346.1143451219768, + -6.8584314666784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -335.2635250091553, + 293.34011459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -318.8952475111419, + 343.51626891062347, + -6.8584314666784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -335.2635250091553, + 293.34011459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -320.3952475111419, + 340.91819269927015, + -6.8584314666784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -335.2635250091553, + 293.34011459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -321.8952475111419, + 338.32011648791683, + -6.8584314666784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -335.2635250091553, + 293.34011459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -323.3952475111419, + 335.7220402765635, + -6.8584314666784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -335.2635250091553, + 293.34011459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -324.8952475111419, + 333.1239640652102, + -6.8584314666784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -335.2635250091553, + 293.34011459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -326.3952475111419, + 330.5258878538569, + -6.8584314666784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -335.2635250091553, + 293.34011459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -327.8952475111419, + 327.92781164250357, + -6.8584314666784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -335.2635250091553, + 293.34011459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -329.3952475111419, + 325.32973543115025, + -6.8584314666784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -335.2635250091553, + 293.34011459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -330.8952475111419, + 322.73165921979694, + -6.8584314666784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -335.2635250091553, + 293.34011459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -332.3952475111419, + 320.1335830084436, + -6.8584314666784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -335.2635250091553, + 293.34011459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -333.8952475111419, + 317.5355067970903, + -6.8584314666784 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -335.2635250091553, + 293.34011459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -333.8952475111419, + 317.5355067970903, + -6.8584314666784 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -335.2635250091553, + 293.34011459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -333.8952475111419, + 314.5355067970903, + -6.8584314666784 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -335.2635250091553, + 293.34011459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -333.8952475111419, + 311.5355067970903, + -6.8584314666784 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -335.2635250091553, + 293.34011459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -333.8952475111419, + 308.5355067970903, + -6.8584314666784 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -335.2635250091553, + 293.34011459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -333.8952475111419, + 305.5355067970903, + -6.8584314666784 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -335.2635250091553, + 293.34011459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -333.8952475111419, + 302.5355067970903, + -6.8584314666784 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -335.2635250091553, + 293.34011459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -333.8952475111419, + 299.5355067970903, + -6.8584314666784 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -335.2635250091553, + 293.34011459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -333.8952475111419, + 296.5355067970903, + -6.8584314666784 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -335.2635250091553, + 293.34011459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -335.2635250091553, + 293.34011459350586, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_9-6-37_1910300925/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_9-6-37_1910300925/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..340f6bc4a279ab3e86cdb5420b200fad92c16124 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_9-6-37_1910300925/pose.jsonl @@ -0,0 +1,2224 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -744.9198857494498, + 494.42384360438206, + -22.659497137510844 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -743.4198857494498, + 497.0219198157354, + -22.659497137510844 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -741.9198857494498, + 499.6199960270887, + -22.659497137510844 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -740.4198857494498, + 502.218072238442, + -22.659497137510844 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -738.9198857494498, + 504.8161484497953, + -22.659497137510844 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -737.4198857494498, + 507.41422466114864, + -22.659497137510844 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -735.9198857494498, + 510.01230087250195, + -22.659497137510844 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -734.4198857494498, + 512.6103770838553, + -22.659497137510844 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -732.9198857494498, + 515.2084532952085, + -22.659497137510844 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -731.4198857494498, + 517.8065295065619, + -22.659497137510844 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -729.9198857494498, + 520.4046057179153, + -22.659497137510844 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -728.4198857494498, + 523.0026819292686, + -22.659497137510844 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -726.9198857494498, + 525.600758140622, + -22.659497137510844 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -725.4198857494498, + 528.1988343519754, + -22.659497137510844 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -723.9198857494498, + 530.7969105633288, + -22.659497137510844 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -722.4198857494498, + 533.3949867746821, + -22.659497137510844 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -720.9198857494498, + 535.9930629860355, + -22.659497137510844 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -719.4198857494498, + 538.5911391973889, + -22.659497137510844 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -717.9198857494498, + 541.1892154087423, + -22.659497137510844 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -716.4198857494498, + 543.7872916200956, + -22.659497137510844 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -714.9198857494498, + 546.385367831449, + -22.659497137510844 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -714.9198857494498, + 546.385367831449, + -22.659497137510844 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -712.3218095380964, + 547.885367831449, + -22.659497137510844 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -709.7237333267431, + 549.385367831449, + -22.659497137510844 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -707.1256571153897, + 550.885367831449, + -22.659497137510844 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -704.5275809040363, + 552.385367831449, + -22.659497137510844 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -701.9295046926829, + 553.885367831449, + -22.659497137510844 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -699.3314284813296, + 555.385367831449, + -22.659497137510844 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -696.7333522699762, + 556.885367831449, + -22.659497137510844 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -694.1352760586228, + 558.385367831449, + -22.659497137510844 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -694.1352760586228, + 558.385367831449, + -22.659497137510844 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -692.6352760586228, + 560.9834440428024, + -22.659497137510844 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -691.1352760586228, + 563.5815202541557, + -22.659497137510844 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -689.6352760586228, + 566.1795964655091, + -22.659497137510844 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -688.1352760586228, + 568.7776726768625, + -22.659497137510844 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -686.6352760586228, + 571.3757488882159, + -22.659497137510844 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -685.1352760586228, + 573.9738250995692, + -22.659497137510844 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -683.6352760586228, + 576.5719013109226, + -22.659497137510844 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -682.1352760586228, + 579.169977522276, + -22.659497137510844 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_9-7-26_2030449291/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_9-7-26_2030449291/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..13e83e9ad39c4b99b8947dedf919c35df8565289 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_9-7-26_2030449291/pose.jsonl @@ -0,0 +1,2080 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -674.09742433161, + 547.0119175227486, + -6.375165562750855 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -671.09742433161, + 547.0119175227486, + -6.375165562750855 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -668.09742433161, + 547.0119175227486, + -6.375165562750855 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -665.09742433161, + 547.0119175227486, + -6.375165562750855 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -662.09742433161, + 547.0119175227486, + -6.375165562750855 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -659.09742433161, + 547.0119175227486, + -6.375165562750855 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -656.09742433161, + 547.0119175227486, + -6.375165562750855 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -653.09742433161, + 547.0119175227486, + -6.375165562750855 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -650.09742433161, + 547.0119175227486, + -6.375165562750855 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -647.09742433161, + 547.0119175227486, + -6.375165562750855 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -644.09742433161, + 547.0119175227486, + -6.375165562750855 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -641.09742433161, + 547.0119175227486, + -6.375165562750855 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -638.09742433161, + 547.0119175227486, + -6.375165562750855 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -635.09742433161, + 547.0119175227486, + -6.375165562750855 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -632.09742433161, + 547.0119175227486, + -6.375165562750855 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -629.09742433161, + 547.0119175227486, + -6.375165562750855 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -626.09742433161, + 547.0119175227486, + -6.375165562750855 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -623.09742433161, + 547.0119175227486, + -6.375165562750855 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -620.09742433161, + 547.0119175227486, + -6.375165562750855 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -617.09742433161, + 547.0119175227486, + -6.375165562750855 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -614.09742433161, + 547.0119175227486, + -6.375165562750855 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -611.09742433161, + 547.0119175227486, + -6.375165562750855 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -608.09742433161, + 547.0119175227486, + -6.375165562750855 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -605.09742433161, + 547.0119175227486, + -6.375165562750855 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -602.09742433161, + 547.0119175227486, + -6.375165562750855 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -599.09742433161, + 547.0119175227486, + -6.375165562750855 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -596.09742433161, + 547.0119175227486, + -6.375165562750855 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -593.09742433161, + 547.0119175227486, + -6.375165562750855 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -590.09742433161, + 547.0119175227486, + -6.375165562750855 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -587.09742433161, + 547.0119175227486, + -6.375165562750855 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -584.09742433161, + 547.0119175227486, + -6.375165562750855 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -581.09742433161, + 547.0119175227486, + -6.375165562750855 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -578.09742433161, + 547.0119175227486, + -6.375165562750855 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -575.09742433161, + 547.0119175227486, + -6.375165562750855 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -575.09742433161, + 547.0119175227486, + -6.375165562750855 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -575.09742433161, + 547.0119175227486, + -6.375165562750855 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -573.59742433161, + 549.6099937341019, + -6.375165562750855 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -572.09742433161, + 552.2080699454552, + -6.375165562750855 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -570.59742433161, + 554.8061461568086, + -6.375165562750855 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 39, + "pos": [ + -569.09742433161, + 557.404222368162, + -6.375165562750855 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 40, + "pos": [ + -567.59742433161, + 560.0022985795154, + -6.375165562750855 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 41, + "pos": [ + -567.59742433161, + 560.0022985795154, + -6.375165562750855 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 42, + "pos": [ + -564.9993481202566, + 561.5022985795154, + -6.375165562750855 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 43, + "pos": [ + -562.4012719089033, + 563.0022985795154, + -6.375165562750855 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 44, + "pos": [ + -559.8031956975499, + 564.5022985795154, + -6.375165562750855 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-31_13-59-37_719885386/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_13-59-37_719885386/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..77753113fa48ba79208b9df91fe54a2b3583908f --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_13-59-37_719885386/pose.jsonl @@ -0,0 +1,482 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -755.73181547201, + 37.49995908952323, + -1.057399169228674 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -753.1337392606567, + 38.99995908952323, + -1.057399169228674 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -750.5356630493034, + 40.49995908952323, + -1.057399169228674 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -747.93758683795, + 41.99995908952323, + -1.057399169228674 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -745.3395106265966, + 43.49995908952323, + -1.057399169228674 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -742.7414344152432, + 44.99995908952323, + -1.057399169228674 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -740.1433582038899, + 46.49995908952323, + -1.057399169228674 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -737.5452819925365, + 47.99995908952323, + -1.057399169228674 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -734.9472057811831, + 49.49995908952323, + -1.057399169228674 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -732.3491295698298, + 50.99995908952323, + -1.057399169228674 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -729.7510533584764, + 52.49995908952323, + -1.057399169228674 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -727.152977147123, + 53.99995908952323, + -1.057399169228674 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -724.5549009357696, + 55.49995908952323, + -1.057399169228674 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -721.9568247244163, + 56.99995908952323, + -1.057399169228674 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -719.3587485130629, + 58.49995908952323, + -1.057399169228674 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -716.7606723017095, + 59.99995908952323, + -1.057399169228674 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -714.1625960903561, + 61.49995908952323, + -1.057399169228674 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -711.5645198790028, + 62.99995908952323, + -1.057399169228674 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -711.5645198790028, + 62.99995908952323, + -1.057399169228674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -710.0645198790028, + 65.59803530087655, + -1.057399169228674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -708.5645198790028, + 68.19611151222986, + -1.057399169228674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -707.0645198790028, + 70.79418772358318, + -1.057399169228674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -705.5645198790028, + 73.3922639349365, + -1.057399169228674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -704.0645198790028, + 75.99034014628981, + -1.057399169228674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -702.5645198790028, + 78.58841635764313, + -1.057399169228674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -701.0645198790028, + 81.18649256899644, + -1.057399169228674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -699.5645198790028, + 83.78456878034976, + -1.057399169228674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -698.0645198790028, + 86.38264499170307, + -1.057399169228674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -696.5645198790028, + 88.98072120305639, + -1.057399169228674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -695.0645198790028, + 91.5787974144097, + -1.057399169228674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -693.5645198790028, + 94.17687362576302, + -1.057399169228674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -692.0645198790028, + 96.77494983711634, + -1.057399169228674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -690.5645198790028, + 99.37302604846965, + -1.057399169228674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -689.0645198790028, + 101.97110225982297, + -1.057399169228674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -687.5645198790028, + 104.56917847117629, + -1.057399169228674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -686.0645198790028, + 107.1672546825296, + -1.057399169228674 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -682.7478131103516, + 107.50352409362793, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-31_14-1-10_783368690/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_14-1-10_783368690/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0d21c81176585eccfc976a36a1def69ab0575b6a --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_14-1-10_783368690/pose.jsonl @@ -0,0 +1,430 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -894.7452000530425, + 346.7860452838074, + 4.206751507650331 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -897.7452000530425, + 346.7860452838074, + 4.206751507650331 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -900.7452000530425, + 346.7860452838074, + 4.206751507650331 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -903.7452000530425, + 346.7860452838074, + 4.206751507650331 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -906.7452000530425, + 346.7860452838074, + 4.206751507650331 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -909.7452000530425, + 346.7860452838074, + 4.206751507650331 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -912.7452000530425, + 346.7860452838074, + 4.206751507650331 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -915.7452000530425, + 346.7860452838074, + 4.206751507650331 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -918.7452000530425, + 346.7860452838074, + 4.206751507650331 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -921.7452000530425, + 346.7860452838074, + 4.206751507650331 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -924.7452000530425, + 346.7860452838074, + 4.206751507650331 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -927.7452000530425, + 346.7860452838074, + 4.206751507650331 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -930.7452000530425, + 346.7860452838074, + 4.206751507650331 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -933.7452000530425, + 346.7860452838074, + 4.206751507650331 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -936.7452000530425, + 346.7860452838074, + 4.206751507650331 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -939.7452000530425, + 346.7860452838074, + 4.206751507650331 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -942.7452000530425, + 346.7860452838074, + 4.206751507650331 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -945.7452000530425, + 346.7860452838074, + 4.206751507650331 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -948.7452000530425, + 346.7860452838074, + 4.206751507650331 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -951.7452000530425, + 346.7860452838074, + 4.206751507650331 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -954.7452000530425, + 346.7860452838074, + 4.206751507650331 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -957.7452000530425, + 346.7860452838074, + 4.206751507650331 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -960.7452000530425, + 346.7860452838074, + 4.206751507650331 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -963.7452000530425, + 346.7860452838074, + 4.206751507650331 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -966.7452000530425, + 346.7860452838074, + 4.206751507650331 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -969.7452000530425, + 346.7860452838074, + 4.206751507650331 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -972.7452000530425, + 346.7860452838074, + 4.206751507650331 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -975.7452000530425, + 346.7860452838074, + 4.206751507650331 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -975.7452000530425, + 346.7860452838074, + 4.206751507650331 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -978.3432762643959, + 345.2860452838074, + 4.206751507650331 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -980.9413524757492, + 343.7860452838074, + 4.206751507650331 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -983.5394286871026, + 342.2860452838074, + 4.206751507650331 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1001.9772616577148, + 339.91288177490236, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-31_14-11-17_1129566413/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_14-11-17_1129566413/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7641ad48b54c6bf22a20e03d0ed5fab598ce3499 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_14-11-17_1129566413/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -665.2866452979655, + 172.95304784700852, + -0.5042758121605564 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -667.8847215093188, + 171.45304784700852, + -0.5042758121605564 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -670.4827977206721, + 169.95304784700852, + -0.5042758121605564 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -673.0808739320255, + 168.45304784700852, + -0.5042758121605564 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -675.6789501433789, + 166.95304784700852, + -0.5042758121605564 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -678.2770263547322, + 165.45304784700852, + -0.5042758121605564 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -680.8751025660856, + 163.95304784700852, + -0.5042758121605564 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -683.473178777439, + 162.45304784700852, + -0.5042758121605564 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -686.0712549887924, + 160.95304784700852, + -0.5042758121605564 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -688.6693312001457, + 159.45304784700852, + -0.5042758121605564 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -691.2674074114991, + 157.95304784700852, + -0.5042758121605564 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -693.8654836228525, + 156.45304784700852, + -0.5042758121605564 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -696.4635598342059, + 154.95304784700852, + -0.5042758121605564 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -699.0616360455592, + 153.45304784700852, + -0.5042758121605564 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -701.6597122569126, + 151.95304784700852, + -0.5042758121605564 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -704.257788468266, + 150.45304784700852, + -0.5042758121605564 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -706.8558646796193, + 148.95304784700852, + -0.5042758121605564 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -709.4539408909727, + 147.45304784700852, + -0.5042758121605564 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -712.0520171023261, + 145.95304784700852, + -0.5042758121605564 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -714.6500933136795, + 144.45304784700852, + -0.5042758121605564 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -717.2481695250328, + 142.95304784700852, + -0.5042758121605564 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -719.8462457363862, + 141.45304784700852, + -0.5042758121605564 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -722.4443219477396, + 139.95304784700852, + -0.5042758121605564 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -722.4443219477396, + 139.95304784700852, + -0.5042758121605564 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -723.9443219477396, + 137.3549716356552, + -0.5042758121605564 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -725.4443219477396, + 134.7568954243019, + -0.5042758121605564 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -726.9443219477396, + 132.15881921294857, + -0.5042758121605564 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -726.8706622314453, + 130.96456672668458, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-31_14-11-31_184803526/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_14-11-31_184803526/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e1c7dd36c1a35c7d51a770a28d98ce5558c59ce1 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_14-11-31_184803526/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 387.72168421128106, + 612.7283164031755, + -4.688570267523608 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 389.22168421128106, + 610.1302401918222, + -4.688570267523608 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 390.72168421128106, + 607.5321639804688, + -4.688570267523608 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 392.22168421128106, + 604.9340877691154, + -4.688570267523608 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 393.72168421128106, + 602.336011557762, + -4.688570267523608 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 395.22168421128106, + 599.7379353464087, + -4.688570267523608 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 396.72168421128106, + 597.1398591350553, + -4.688570267523608 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 398.22168421128106, + 594.5417829237019, + -4.688570267523608 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 399.72168421128106, + 591.9437067123486, + -4.688570267523608 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 401.22168421128106, + 589.3456305009952, + -4.688570267523608 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 402.72168421128106, + 586.7475542896418, + -4.688570267523608 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 404.22168421128106, + 584.1494780782884, + -4.688570267523608 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 404.22168421128106, + 584.1494780782884, + -4.688570267523608 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 406.8197604226344, + 582.6494780782884, + -4.688570267523608 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 409.4178366339877, + 581.1494780782884, + -4.688570267523608 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 412.015912845341, + 579.6494780782884, + -4.688570267523608 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 414.6139890566943, + 578.1494780782884, + -4.688570267523608 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 417.21206526804764, + 576.6494780782884, + -4.688570267523608 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 419.81014147940095, + 575.1494780782884, + -4.688570267523608 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 422.40821769075427, + 573.6494780782884, + -4.688570267523608 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 425.0062939021076, + 572.1494780782884, + -4.688570267523608 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 427.6043701134609, + 570.6494780782884, + -4.688570267523608 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 430.2024463248142, + 569.1494780782884, + -4.688570267523608 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 432.80052253616753, + 567.6494780782884, + -4.688570267523608 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 434.03729019165036, + 563.8867979431152, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-31_14-13-20_982906996/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_14-13-20_982906996/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ca8b01e62d93b9d80efde47d4cdb5d1c2cc1943f --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_14-13-20_982906996/pose.jsonl @@ -0,0 +1,495 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -313.7463373661983, + -378.5875437919509, + -3.3028719009406915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -310.7463373661983, + -378.5875437919509, + -3.3028719009406915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -307.7463373661983, + -378.5875437919509, + -3.3028719009406915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -304.7463373661983, + -378.5875437919509, + -3.3028719009406915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -301.7463373661983, + -378.5875437919509, + -3.3028719009406915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -298.7463373661983, + -378.5875437919509, + -3.3028719009406915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -295.7463373661983, + -378.5875437919509, + -3.3028719009406915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -292.7463373661983, + -378.5875437919509, + -3.3028719009406915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -289.7463373661983, + -378.5875437919509, + -3.3028719009406915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -286.7463373661983, + -378.5875437919509, + -3.3028719009406915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -283.7463373661983, + -378.5875437919509, + -3.3028719009406915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -280.7463373661983, + -378.5875437919509, + -3.3028719009406915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -277.7463373661983, + -378.5875437919509, + -3.3028719009406915 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -277.7463373661983, + -378.5875437919509, + -3.3028719009406915 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -275.148261154845, + -380.0875437919509, + -3.3028719009406915 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -272.5501849434917, + -381.5875437919509, + -3.3028719009406915 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -269.95210873213836, + -383.0875437919509, + -3.3028719009406915 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -267.35403252078504, + -384.5875437919509, + -3.3028719009406915 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -264.7559563094317, + -386.0875437919509, + -3.3028719009406915 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -262.1578800980784, + -387.5875437919509, + -3.3028719009406915 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -259.5598038867251, + -389.0875437919509, + -3.3028719009406915 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -256.9617276753718, + -390.5875437919509, + -3.3028719009406915 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -254.36365146401846, + -392.0875437919509, + -3.3028719009406915 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -251.76557525266514, + -393.5875437919509, + -3.3028719009406915 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -249.16749904131183, + -395.0875437919509, + -3.3028719009406915 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -246.5694228299585, + -396.5875437919509, + -3.3028719009406915 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -243.9713466186052, + -398.0875437919509, + -3.3028719009406915 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -241.37327040725188, + -399.5875437919509, + -3.3028719009406915 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -238.77519419589856, + -401.0875437919509, + -3.3028719009406915 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -236.17711798454525, + -402.5875437919509, + -3.3028719009406915 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -233.57904177319193, + -404.0875437919509, + -3.3028719009406915 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -230.98096556183862, + -405.5875437919509, + -3.3028719009406915 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -228.3828893504853, + -407.0875437919509, + -3.3028719009406915 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -225.78481313913198, + -408.5875437919509, + -3.3028719009406915 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -223.18673692777867, + -410.0875437919509, + -3.3028719009406915 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -220.58866071642535, + -411.5875437919509, + -3.3028719009406915 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -217.99058450507204, + -413.0875437919509, + -3.3028719009406915 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -215.0078338623047, + -412.48035171508786, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-31_14-15-0_572660336/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_14-15-0_572660336/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c8a74d4e9aa2e40ef198daabff22e51bddc94863 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_14-15-0_572660336/pose.jsonl @@ -0,0 +1,404 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 220.54503417811696, + 672.3979301669447, + 0.5381639653429895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 223.54503417811696, + 672.3979301669447, + 0.5381639653429895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 226.54503417811696, + 672.3979301669447, + 0.5381639653429895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 229.54503417811696, + 672.3979301669447, + 0.5381639653429895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 232.54503417811696, + 672.3979301669447, + 0.5381639653429895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 235.54503417811696, + 672.3979301669447, + 0.5381639653429895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 238.54503417811696, + 672.3979301669447, + 0.5381639653429895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 241.54503417811696, + 672.3979301669447, + 0.5381639653429895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 244.54503417811696, + 672.3979301669447, + 0.5381639653429895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 247.54503417811696, + 672.3979301669447, + 0.5381639653429895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 250.54503417811696, + 672.3979301669447, + 0.5381639653429895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 253.54503417811696, + 672.3979301669447, + 0.5381639653429895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 256.54503417811696, + 672.3979301669447, + 0.5381639653429895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 259.54503417811696, + 672.3979301669447, + 0.5381639653429895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 262.54503417811696, + 672.3979301669447, + 0.5381639653429895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 265.54503417811696, + 672.3979301669447, + 0.5381639653429895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 268.54503417811696, + 672.3979301669447, + 0.5381639653429895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 271.54503417811696, + 672.3979301669447, + 0.5381639653429895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 274.54503417811696, + 672.3979301669447, + 0.5381639653429895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 277.54503417811696, + 672.3979301669447, + 0.5381639653429895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 280.54503417811696, + 672.3979301669447, + 0.5381639653429895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 283.54503417811696, + 672.3979301669447, + 0.5381639653429895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 286.54503417811696, + 672.3979301669447, + 0.5381639653429895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 289.54503417811696, + 672.3979301669447, + 0.5381639653429895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 292.54503417811696, + 672.3979301669447, + 0.5381639653429895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 295.54503417811696, + 672.3979301669447, + 0.5381639653429895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 298.54503417811696, + 672.3979301669447, + 0.5381639653429895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 301.54503417811696, + 672.3979301669447, + 0.5381639653429895 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 301.54503417811696, + 672.3979301669447, + 0.5381639653429895 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 304.1431103894703, + 670.8979301669447, + 0.5381639653429895 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 307.503537902832, + 668.8986363220215, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-31_14-16-36_1141616124/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_14-16-36_1141616124/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1095ee46de2b04e6a095b5b1feab27f63cb0c331 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_14-16-36_1141616124/pose.jsonl @@ -0,0 +1,469 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 469.899715957442, + 473.4639337466212, + 4.819037870533085 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 468.399715957442, + 476.0620099579745, + 4.819037870533085 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 466.899715957442, + 478.6600861693278, + 4.819037870533085 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 465.399715957442, + 481.25816238068114, + 4.819037870533085 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 463.899715957442, + 483.85623859203446, + 4.819037870533085 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 462.399715957442, + 486.4543148033878, + 4.819037870533085 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 460.899715957442, + 489.0523910147411, + 4.819037870533085 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 459.399715957442, + 491.6504672260944, + 4.819037870533085 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 457.899715957442, + 494.2485434374477, + 4.819037870533085 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 456.399715957442, + 496.84661964880104, + 4.819037870533085 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 454.899715957442, + 499.44469586015435, + 4.819037870533085 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 453.399715957442, + 502.04277207150767, + 4.819037870533085 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 451.899715957442, + 504.640848282861, + 4.819037870533085 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 450.399715957442, + 507.2389244942143, + 4.819037870533085 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 448.899715957442, + 509.8370007055676, + 4.819037870533085 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 447.399715957442, + 512.4350769169209, + 4.819037870533085 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 445.899715957442, + 515.0331531282743, + 4.819037870533085 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 444.399715957442, + 517.6312293396277, + 4.819037870533085 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 442.899715957442, + 520.229305550981, + 4.819037870533085 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 441.399715957442, + 522.8273817623344, + 4.819037870533085 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 439.899715957442, + 525.4254579736878, + 4.819037870533085 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 438.399715957442, + 528.0235341850412, + 4.819037870533085 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 436.899715957442, + 530.6216103963945, + 4.819037870533085 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 436.899715957442, + 530.6216103963945, + 4.819037870533085 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 436.899715957442, + 533.6216103963945, + 4.819037870533085 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 436.899715957442, + 536.6216103963945, + 4.819037870533085 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 436.899715957442, + 539.6216103963945, + 4.819037870533085 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 436.899715957442, + 542.6216103963945, + 4.819037870533085 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 436.899715957442, + 545.6216103963945, + 4.819037870533085 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 436.899715957442, + 548.6216103963945, + 4.819037870533085 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 436.899715957442, + 551.6216103963945, + 4.819037870533085 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 436.899715957442, + 554.6216103963945, + 4.819037870533085 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 436.899715957442, + 557.6216103963945, + 4.819037870533085 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 436.899715957442, + 557.6216103963945, + 4.819037870533085 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 435.399715957442, + 560.2196866077479, + 4.819037870533085 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 434.03729019165036, + 563.8867979431152, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-31_14-17-31_1998898814/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_14-17-31_1998898814/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..652515eb664c8092f3825d6d4136f3a94e32b976 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_14-17-31_1998898814/pose.jsonl @@ -0,0 +1,534 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -729.8612197104876, + 22.8698509462049, + 2.650388522518986 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -732.8612197104876, + 22.8698509462049, + 2.650388522518986 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -735.8612197104876, + 22.8698509462049, + 2.650388522518986 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -738.8612197104876, + 22.8698509462049, + 2.650388522518986 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -741.8612197104876, + 22.8698509462049, + 2.650388522518986 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -744.8612197104876, + 22.8698509462049, + 2.650388522518986 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -747.8612197104876, + 22.8698509462049, + 2.650388522518986 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -750.8612197104876, + 22.8698509462049, + 2.650388522518986 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -753.8612197104876, + 22.8698509462049, + 2.650388522518986 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -756.8612197104876, + 22.8698509462049, + 2.650388522518986 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -759.8612197104876, + 22.8698509462049, + 2.650388522518986 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -762.8612197104876, + 22.8698509462049, + 2.650388522518986 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -765.8612197104876, + 22.8698509462049, + 2.650388522518986 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -768.8612197104876, + 22.8698509462049, + 2.650388522518986 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -771.8612197104876, + 22.8698509462049, + 2.650388522518986 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -774.8612197104876, + 22.8698509462049, + 2.650388522518986 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -777.8612197104876, + 22.8698509462049, + 2.650388522518986 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -780.8612197104876, + 22.8698509462049, + 2.650388522518986 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -783.8612197104876, + 22.8698509462049, + 2.650388522518986 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -786.8612197104876, + 22.8698509462049, + 2.650388522518986 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -789.8612197104876, + 22.8698509462049, + 2.650388522518986 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -792.8612197104876, + 22.8698509462049, + 2.650388522518986 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -795.8612197104876, + 22.8698509462049, + 2.650388522518986 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -798.8612197104876, + 22.8698509462049, + 2.650388522518986 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -801.8612197104876, + 22.8698509462049, + 2.650388522518986 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -804.8612197104876, + 22.8698509462049, + 2.650388522518986 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -807.8612197104876, + 22.8698509462049, + 2.650388522518986 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -810.8612197104876, + 22.8698509462049, + 2.650388522518986 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -813.8612197104876, + 22.8698509462049, + 2.650388522518986 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -816.8612197104876, + 22.8698509462049, + 2.650388522518986 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -819.8612197104876, + 22.8698509462049, + 2.650388522518986 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -822.8612197104876, + 22.8698509462049, + 2.650388522518986 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -822.8612197104876, + 22.8698509462049, + 2.650388522518986 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -825.459295921841, + 21.3698509462049, + 2.650388522518986 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -828.0573721331943, + 19.8698509462049, + 2.650388522518986 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -830.6554483445477, + 18.3698509462049, + 2.650388522518986 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -833.2535245559011, + 16.8698509462049, + 2.650388522518986 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -833.2535245559011, + 16.8698509462049, + 2.650388522518986 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -833.2535245559011, + 16.8698509462049, + 2.650388522518986 + ], + "type": "go straight", + "value": 3, + "yaw": -1.570796326794906 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -833.2535245559011, + 13.869850946204899, + 2.650388522518986 + ], + "type": "stop", + "value": 0, + "yaw": -1.570796326794906 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -834.8437512207031, + 12.72820457458496, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-31_14-18-37_1374344043/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_14-18-37_1374344043/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..38e251b4bd97d4973ea1e203fa7f02df5e568fc9 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_14-18-37_1374344043/pose.jsonl @@ -0,0 +1,378 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -765.1253275199347, + 262.55050840626, + 1.1544194506920924 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -762.1253275199347, + 262.55050840626, + 1.1544194506920924 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -759.1253275199347, + 262.55050840626, + 1.1544194506920924 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -756.1253275199347, + 262.55050840626, + 1.1544194506920924 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -753.1253275199347, + 262.55050840626, + 1.1544194506920924 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -750.1253275199347, + 262.55050840626, + 1.1544194506920924 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -747.1253275199347, + 262.55050840626, + 1.1544194506920924 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -744.1253275199347, + 262.55050840626, + 1.1544194506920924 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -741.1253275199347, + 262.55050840626, + 1.1544194506920924 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -738.1253275199347, + 262.55050840626, + 1.1544194506920924 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -735.1253275199347, + 262.55050840626, + 1.1544194506920924 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -732.1253275199347, + 262.55050840626, + 1.1544194506920924 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -729.1253275199347, + 262.55050840626, + 1.1544194506920924 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -726.1253275199347, + 262.55050840626, + 1.1544194506920924 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -723.1253275199347, + 262.55050840626, + 1.1544194506920924 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -720.1253275199347, + 262.55050840626, + 1.1544194506920924 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -717.1253275199347, + 262.55050840626, + 1.1544194506920924 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -714.1253275199347, + 262.55050840626, + 1.1544194506920924 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -711.1253275199347, + 262.55050840626, + 1.1544194506920924 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -708.1253275199347, + 262.55050840626, + 1.1544194506920924 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -705.1253275199347, + 262.55050840626, + 1.1544194506920924 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -702.1253275199347, + 262.55050840626, + 1.1544194506920924 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -699.1253275199347, + 262.55050840626, + 1.1544194506920924 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -696.1253275199347, + 262.55050840626, + 1.1544194506920924 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -693.1253275199347, + 262.55050840626, + 1.1544194506920924 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -693.1253275199347, + 262.55050840626, + 1.1544194506920924 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -690.5272513085813, + 261.05050840626, + 1.1544194506920924 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -687.9291750972279, + 259.55050840626, + 1.1544194506920924 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -686.6680834960937, + 258.1570868682861, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-31_14-19-7_1477171087/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_14-19-7_1477171087/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cb041e7ec587314484aad16b1f757322ddc72e8b --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_14-19-7_1477171087/pose.jsonl @@ -0,0 +1,521 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -929.5847198098037, + 226.3126192306497, + 2.8515360605367457 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -929.5847198098037, + 229.3126192306497, + 2.8515360605367457 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -929.5847198098037, + 232.3126192306497, + 2.8515360605367457 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -929.5847198098037, + 235.3126192306497, + 2.8515360605367457 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -929.5847198098037, + 238.3126192306497, + 2.8515360605367457 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -929.5847198098037, + 241.3126192306497, + 2.8515360605367457 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -929.5847198098037, + 244.3126192306497, + 2.8515360605367457 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -929.5847198098037, + 247.3126192306497, + 2.8515360605367457 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -929.5847198098037, + 250.3126192306497, + 2.8515360605367457 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -929.5847198098037, + 253.3126192306497, + 2.8515360605367457 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -929.5847198098037, + 256.3126192306497, + 2.8515360605367457 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -929.5847198098037, + 259.3126192306497, + 2.8515360605367457 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -929.5847198098037, + 262.3126192306497, + 2.8515360605367457 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -929.5847198098037, + 265.3126192306497, + 2.8515360605367457 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -929.5847198098037, + 268.3126192306497, + 2.8515360605367457 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -929.5847198098037, + 271.3126192306497, + 2.8515360605367457 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -929.5847198098037, + 274.3126192306497, + 2.8515360605367457 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -929.5847198098037, + 277.3126192306497, + 2.8515360605367457 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -929.5847198098037, + 280.3126192306497, + 2.8515360605367457 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -929.5847198098037, + 283.3126192306497, + 2.8515360605367457 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -929.5847198098037, + 286.3126192306497, + 2.8515360605367457 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -929.5847198098037, + 289.3126192306497, + 2.8515360605367457 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -929.5847198098037, + 292.3126192306497, + 2.8515360605367457 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -929.5847198098037, + 295.3126192306497, + 2.8515360605367457 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -929.5847198098037, + 298.3126192306497, + 2.8515360605367457 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -929.5847198098037, + 301.3126192306497, + 2.8515360605367457 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -929.5847198098037, + 304.3126192306497, + 2.8515360605367457 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -929.5847198098037, + 307.3126192306497, + 2.8515360605367457 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -929.5847198098037, + 310.3126192306497, + 2.8515360605367457 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -929.5847198098037, + 310.3126192306497, + 2.8515360605367457 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -931.0847198098037, + 312.91069544200303, + 2.8515360605367457 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -932.5847198098037, + 315.50877165335635, + 2.8515360605367457 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -934.0847198098037, + 318.10684786470966, + 2.8515360605367457 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -935.5847198098037, + 320.704924076063, + 2.8515360605367457 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -937.0847198098037, + 323.3030002874163, + 2.8515360605367457 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -938.5847198098037, + 325.9010764987696, + 2.8515360605367457 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -940.0847198098037, + 328.4991527101229, + 2.8515360605367457 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -941.5847198098037, + 331.09722892147624, + 2.8515360605367457 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -943.0847198098037, + 333.69530513282956, + 2.8515360605367457 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -942.5730328369141, + 336.42247901916505, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-31_14-23-11_1984210012/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_14-23-11_1984210012/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..885b8ddde3f848373ffe99b4c69a19d65f394610 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_14-23-11_1984210012/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -470.3678301817976, + -217.60949124944264, + 2.993941667338749 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -468.8678301817976, + -215.01141503808932, + 2.993941667338749 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -467.3678301817976, + -212.413338826736, + 2.993941667338749 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -465.8678301817976, + -209.8152626153827, + 2.993941667338749 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -464.3678301817976, + -207.21718640402938, + 2.993941667338749 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -462.8678301817976, + -204.61911019267606, + 2.993941667338749 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -461.3678301817976, + -202.02103398132274, + 2.993941667338749 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -459.8678301817976, + -199.42295776996943, + 2.993941667338749 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -458.3678301817976, + -196.8248815586161, + 2.993941667338749 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -456.8678301817976, + -194.2268053472628, + 2.993941667338749 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -455.3678301817976, + -191.62872913590948, + 2.993941667338749 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -453.8678301817976, + -189.03065292455616, + 2.993941667338749 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -452.3678301817976, + -186.43257671320285, + 2.993941667338749 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -450.8678301817976, + -183.83450050184953, + 2.993941667338749 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -449.3678301817976, + -181.23642429049622, + 2.993941667338749 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -447.8678301817976, + -178.6383480791429, + 2.993941667338749 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -446.3678301817976, + -176.04027186778958, + 2.993941667338749 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -444.8678301817976, + -173.44219565643627, + 2.993941667338749 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -444.8678301817976, + -173.44219565643627, + 2.993941667338749 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -444.8678301817976, + -170.44219565643627, + 2.993941667338749 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -444.8678301817976, + -167.44219565643627, + 2.993941667338749 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -444.8678301817976, + -164.44219565643627, + 2.993941667338749 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -444.8678301817976, + -161.44219565643627, + 2.993941667338749 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -445.52278427124025, + -160.4525846862793, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-31_14-24-13_1956297539/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_14-24-13_1956297539/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..997693586900b927457758caab199e5700cd5304 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_14-24-13_1956297539/pose.jsonl @@ -0,0 +1,508 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 392.84282077396267, + 131.96016439273154, + 2.7211894225676883 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 391.34282077396267, + 129.36208818137823, + 2.7211894225676883 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 389.84282077396267, + 126.76401197002491, + 2.7211894225676883 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 388.34282077396267, + 124.1659357586716, + 2.7211894225676883 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 386.84282077396267, + 121.56785954731828, + 2.7211894225676883 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 385.34282077396267, + 118.96978333596496, + 2.7211894225676883 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 383.84282077396267, + 116.37170712461165, + 2.7211894225676883 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 382.34282077396267, + 113.77363091325833, + 2.7211894225676883 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 380.84282077396267, + 111.17555470190501, + 2.7211894225676883 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 379.34282077396267, + 108.5774784905517, + 2.7211894225676883 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 377.84282077396267, + 105.97940227919838, + 2.7211894225676883 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 376.34282077396267, + 103.38132606784507, + 2.7211894225676883 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 374.84282077396267, + 100.78324985649175, + 2.7211894225676883 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 373.34282077396267, + 98.18517364513843, + 2.7211894225676883 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 371.84282077396267, + 95.58709743378512, + 2.7211894225676883 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 370.34282077396267, + 92.9890212224318, + 2.7211894225676883 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 368.84282077396267, + 90.39094501107849, + 2.7211894225676883 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 367.34282077396267, + 87.79286879972517, + 2.7211894225676883 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 365.84282077396267, + 85.19479258837185, + 2.7211894225676883 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 364.34282077396267, + 82.59671637701854, + 2.7211894225676883 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 362.84282077396267, + 79.99864016566522, + 2.7211894225676883 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 361.34282077396267, + 77.4005639543119, + 2.7211894225676883 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 359.84282077396267, + 74.80248774295859, + 2.7211894225676883 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 358.34282077396267, + 72.20441153160527, + 2.7211894225676883 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 356.84282077396267, + 69.60633532025196, + 2.7211894225676883 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 355.34282077396267, + 67.00825910889864, + 2.7211894225676883 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 353.84282077396267, + 64.41018289754533, + 2.7211894225676883 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 352.34282077396267, + 61.81210668619201, + 2.7211894225676883 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 350.84282077396267, + 59.214030474838694, + 2.7211894225676883 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 349.34282077396267, + 56.61595426348538, + 2.7211894225676883 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 347.84282077396267, + 54.01787805213206, + 2.7211894225676883 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 346.34282077396267, + 51.419801840778746, + 2.7211894225676883 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 346.34282077396267, + 51.419801840778746, + 2.7211894225676883 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 346.34282077396267, + 48.419801840778746, + 2.7211894225676883 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 346.34282077396267, + 45.419801840778746, + 2.7211894225676883 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 346.34282077396267, + 42.419801840778746, + 2.7211894225676883 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 346.34282077396267, + 39.419801840778746, + 2.7211894225676883 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 346.34282077396267, + 36.419801840778746, + 2.7211894225676883 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 344.9839593505859, + 35.070869789123535, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-31_14-28-3_402724286/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_14-28-3_402724286/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cedc75a5fd09e3582c55c1bb0f842db48aa4e299 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_14-28-3_402724286/pose.jsonl @@ -0,0 +1,469 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -563.8242473152053, + 96.32641180870662, + 0.6935580956373952 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -566.8242473152053, + 96.32641180870662, + 0.6935580956373952 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -569.8242473152053, + 96.32641180870662, + 0.6935580956373952 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -572.8242473152053, + 96.32641180870662, + 0.6935580956373952 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -575.8242473152053, + 96.32641180870662, + 0.6935580956373952 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -578.8242473152053, + 96.32641180870662, + 0.6935580956373952 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -581.8242473152053, + 96.32641180870662, + 0.6935580956373952 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -584.8242473152053, + 96.32641180870662, + 0.6935580956373952 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -587.8242473152053, + 96.32641180870662, + 0.6935580956373952 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -590.8242473152053, + 96.32641180870662, + 0.6935580956373952 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -593.8242473152053, + 96.32641180870662, + 0.6935580956373952 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -596.8242473152053, + 96.32641180870662, + 0.6935580956373952 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -599.8242473152053, + 96.32641180870662, + 0.6935580956373952 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -602.8242473152053, + 96.32641180870662, + 0.6935580956373952 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -605.8242473152053, + 96.32641180870662, + 0.6935580956373952 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -608.8242473152053, + 96.32641180870662, + 0.6935580956373952 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -611.8242473152053, + 96.32641180870662, + 0.6935580956373952 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -614.8242473152053, + 96.32641180870662, + 0.6935580956373952 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -617.8242473152053, + 96.32641180870662, + 0.6935580956373952 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -620.8242473152053, + 96.32641180870662, + 0.6935580956373952 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -623.8242473152053, + 96.32641180870662, + 0.6935580956373952 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -626.8242473152053, + 96.32641180870662, + 0.6935580956373952 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -629.8242473152053, + 96.32641180870662, + 0.6935580956373952 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -632.8242473152053, + 96.32641180870662, + 0.6935580956373952 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -635.8242473152053, + 96.32641180870662, + 0.6935580956373952 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -638.8242473152053, + 96.32641180870662, + 0.6935580956373952 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -638.8242473152053, + 96.32641180870662, + 0.6935580956373952 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -641.4223235265586, + 94.82641180870662, + 0.6935580956373952 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -644.0203997379119, + 93.32641180870662, + 0.6935580956373952 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -646.6184759492653, + 91.82641180870662, + 0.6935580956373952 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -649.2165521606187, + 90.32641180870662, + 0.6935580956373952 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -649.2165521606187, + 90.32641180870662, + 0.6935580956373952 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -650.7165521606187, + 87.72833559735331, + 0.6935580956373952 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -652.2165521606187, + 85.13025938599999, + 0.6935580956373952 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -653.7165521606187, + 82.53218317464668, + 0.6935580956373952 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -655.7620668029786, + 80.36062210083007, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-31_14-31-50_822890675/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_14-31-50_822890675/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9e2974dc604bbf5b4b827e98ae8ae14996c5c78a --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_14-31-50_822890675/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -577.9723041014577, + 476.3125440590538, + -0.1512589055100788 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -580.9723041014577, + 476.3125440590538, + -0.1512589055100788 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -583.9723041014577, + 476.3125440590538, + -0.1512589055100788 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -586.9723041014577, + 476.3125440590538, + -0.1512589055100788 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -589.9723041014577, + 476.3125440590538, + -0.1512589055100788 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -592.9723041014577, + 476.3125440590538, + -0.1512589055100788 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -595.9723041014577, + 476.3125440590538, + -0.1512589055100788 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -598.9723041014577, + 476.3125440590538, + -0.1512589055100788 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -601.9723041014577, + 476.3125440590538, + -0.1512589055100788 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -604.9723041014577, + 476.3125440590538, + -0.1512589055100788 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -607.9723041014577, + 476.3125440590538, + -0.1512589055100788 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -610.9723041014577, + 476.3125440590538, + -0.1512589055100788 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -613.9723041014577, + 476.3125440590538, + -0.1512589055100788 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -616.9723041014577, + 476.3125440590538, + -0.1512589055100788 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -619.9723041014577, + 476.3125440590538, + -0.1512589055100788 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -622.9723041014577, + 476.3125440590538, + -0.1512589055100788 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -625.9723041014577, + 476.3125440590538, + -0.1512589055100788 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -628.9723041014577, + 476.3125440590538, + -0.1512589055100788 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -631.9723041014577, + 476.3125440590538, + -0.1512589055100788 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -631.9723041014577, + 476.3125440590538, + -0.1512589055100788 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -634.570380312811, + 477.8125440590538, + -0.1512589055100788 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -637.1684565241644, + 479.3125440590538, + -0.1512589055100788 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -639.7665327355178, + 480.8125440590538, + -0.1512589055100788 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -639.5100476074218, + 482.8642652893066, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-31_14-6-27_1315634022/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_14-6-27_1315634022/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c790008f98f9fc3b21c01451754c9f712ffa3a19 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_14-6-27_1315634022/pose.jsonl @@ -0,0 +1,521 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -460.038302976957, + 266.62521861843976, + -4.800247302112546 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -462.63637918831034, + 265.12521861843976, + -4.800247302112546 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -465.23445539966366, + 263.62521861843976, + -4.800247302112546 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -467.832531611017, + 262.12521861843976, + -4.800247302112546 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -470.4306078223703, + 260.62521861843976, + -4.800247302112546 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -473.0286840337236, + 259.12521861843976, + -4.800247302112546 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -475.6267602450769, + 257.62521861843976, + -4.800247302112546 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -478.22483645643024, + 256.12521861843976, + -4.800247302112546 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -480.82291266778356, + 254.62521861843976, + -4.800247302112546 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -483.42098887913687, + 253.12521861843976, + -4.800247302112546 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -486.0190650904902, + 251.62521861843976, + -4.800247302112546 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -488.6171413018435, + 250.12521861843976, + -4.800247302112546 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -491.2152175131968, + 248.62521861843976, + -4.800247302112546 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -493.81329372455014, + 247.12521861843976, + -4.800247302112546 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -496.41136993590345, + 245.62521861843976, + -4.800247302112546 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -499.00944614725677, + 244.12521861843976, + -4.800247302112546 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -501.6075223586101, + 242.62521861843976, + -4.800247302112546 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -504.2055985699634, + 241.12521861843976, + -4.800247302112546 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -506.8036747813167, + 239.62521861843976, + -4.800247302112546 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -509.40175099267003, + 238.12521861843976, + -4.800247302112546 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -511.99982720402335, + 236.62521861843976, + -4.800247302112546 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -514.5979034153767, + 235.12521861843976, + -4.800247302112546 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -517.1959796267299, + 233.62521861843976, + -4.800247302112546 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -519.7940558380833, + 232.12521861843976, + -4.800247302112546 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -522.3921320494367, + 230.62521861843976, + -4.800247302112546 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -524.99020826079, + 229.12521861843976, + -4.800247302112546 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -527.5882844721434, + 227.62521861843976, + -4.800247302112546 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -530.1863606834968, + 226.12521861843976, + -4.800247302112546 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -532.7844368948502, + 224.62521861843976, + -4.800247302112546 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -532.7844368948502, + 224.62521861843976, + -4.800247302112546 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -534.2844368948502, + 222.02714240708644, + -4.800247302112546 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -535.7844368948502, + 219.42906619573313, + -4.800247302112546 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -537.2844368948502, + 216.8309899843798, + -4.800247302112546 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -538.7844368948502, + 214.2329137730265, + -4.800247302112546 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -540.2844368948502, + 211.63483756167318, + -4.800247302112546 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -541.7844368948502, + 209.03676135031986, + -4.800247302112546 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -543.2844368948502, + 206.43868513896655, + -4.800247302112546 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -544.7844368948502, + 203.84060892761323, + -4.800247302112546 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -546.2844368948502, + 201.24253271625992, + -4.800247302112546 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -547.9009985351562, + 200.65022193908692, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-31_14-7-17_1125898167/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_14-7-17_1125898167/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a45380b4557a7d28a0574b8452e6a8cd7ed303ee --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_14-7-17_1125898167/pose.jsonl @@ -0,0 +1,443 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -218.82453556785745, + -553.0777189070609, + -2.854906849166044 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -217.32453556785745, + -550.4796426957075, + -2.854906849166044 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -215.82453556785745, + -547.8815664843542, + -2.854906849166044 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -214.32453556785745, + -545.2834902730008, + -2.854906849166044 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -212.82453556785745, + -542.6854140616474, + -2.854906849166044 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -211.32453556785745, + -540.087337850294, + -2.854906849166044 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -209.82453556785745, + -537.4892616389407, + -2.854906849166044 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -208.32453556785745, + -534.8911854275873, + -2.854906849166044 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -206.82453556785745, + -532.2931092162339, + -2.854906849166044 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -205.32453556785745, + -529.6950330048805, + -2.854906849166044 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -203.82453556785745, + -527.0969567935272, + -2.854906849166044 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -202.32453556785745, + -524.4988805821738, + -2.854906849166044 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -200.82453556785745, + -521.9008043708204, + -2.854906849166044 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -199.32453556785745, + -519.302728159467, + -2.854906849166044 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -197.82453556785745, + -516.7046519481137, + -2.854906849166044 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -196.32453556785745, + -514.1065757367603, + -2.854906849166044 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -194.82453556785745, + -511.508499525407, + -2.854906849166044 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -193.32453556785745, + -508.9104233140537, + -2.854906849166044 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -191.82453556785745, + -506.31234710270036, + -2.854906849166044 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -190.32453556785745, + -503.71427089134704, + -2.854906849166044 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -188.82453556785745, + -501.1161946799937, + -2.854906849166044 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -187.32453556785745, + -498.5181184686404, + -2.854906849166044 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -185.82453556785745, + -495.9200422572871, + -2.854906849166044 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -184.32453556785745, + -493.3219660459338, + -2.854906849166044 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -182.82453556785745, + -490.72388983458046, + -2.854906849166044 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -181.32453556785745, + -488.12581362322715, + -2.854906849166044 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -179.82453556785745, + -485.52773741187383, + -2.854906849166044 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -178.32453556785745, + -482.9296612005205, + -2.854906849166044 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -176.82453556785745, + -480.3315849891672, + -2.854906849166044 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -175.32453556785745, + -477.7335087778139, + -2.854906849166044 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -175.32453556785745, + -477.7335087778139, + -2.854906849166044 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -175.32453556785745, + -474.7335087778139, + -2.854906849166044 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -175.32453556785745, + -471.7335087778139, + -2.854906849166044 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -175.02334197998047, + -467.78616867065426, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-31_21-58-44_1025202362/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_21-58-44_1025202362/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..08c53ff140a1f5426db7b2aea5738a45c59c8746 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_21-58-44_1025202362/pose.jsonl @@ -0,0 +1,586 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 373.748494908854, + -27.01839943752893, + -0.21253158027937769 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 376.748494908854, + -27.01839943752893, + -0.21253158027937769 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 379.748494908854, + -27.01839943752893, + -0.21253158027937769 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 382.748494908854, + -27.01839943752893, + -0.21253158027937769 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 385.748494908854, + -27.01839943752893, + -0.21253158027937769 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 388.748494908854, + -27.01839943752893, + -0.21253158027937769 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 391.748494908854, + -27.01839943752893, + -0.21253158027937769 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 394.748494908854, + -27.01839943752893, + -0.21253158027937769 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 397.748494908854, + -27.01839943752893, + -0.21253158027937769 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 400.748494908854, + -27.01839943752893, + -0.21253158027937769 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 403.748494908854, + -27.01839943752893, + -0.21253158027937769 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 406.748494908854, + -27.01839943752893, + -0.21253158027937769 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 406.748494908854, + -27.01839943752893, + -0.21253158027937769 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 406.748494908854, + -27.01839943752893, + -0.21253158027937769 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 408.248494908854, + -24.420323226175615, + -0.21253158027937769 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 409.748494908854, + -21.8222470148223, + -0.21253158027937769 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 411.248494908854, + -19.224170803468983, + -0.21253158027937769 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 411.248494908854, + -19.224170803468983, + -0.21253158027937769 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 413.84657112020733, + -17.724170803468983, + -0.21253158027937769 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 416.44464733156065, + -16.224170803468983, + -0.21253158027937769 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 419.04272354291396, + -14.724170803468983, + -0.21253158027937769 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 421.6407997542673, + -13.224170803468983, + -0.21253158027937769 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 424.2388759656206, + -11.724170803468983, + -0.21253158027937769 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 426.8369521769739, + -10.224170803468983, + -0.21253158027937769 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 429.4350283883272, + -8.724170803468983, + -0.21253158027937769 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 432.03310459968054, + -7.224170803468983, + -0.21253158027937769 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 434.63118081103386, + -5.724170803468983, + -0.21253158027937769 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 437.2292570223872, + -4.224170803468983, + -0.21253158027937769 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 439.8273332337405, + -2.724170803468983, + -0.21253158027937769 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 442.4254094450938, + -1.224170803468983, + -0.21253158027937769 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 445.0234856564471, + 0.2758291965310167, + -0.21253158027937769 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 447.62156186780044, + 1.7758291965310165, + -0.21253158027937769 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 450.21963807915375, + 3.2758291965310162, + -0.21253158027937769 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 452.81771429050707, + 4.775829196531016, + -0.21253158027937769 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 455.4157905018604, + 6.275829196531016, + -0.21253158027937769 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 458.0138667132137, + 7.775829196531016, + -0.21253158027937769 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 460.611942924567, + 9.275829196531015, + -0.21253158027937769 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982986 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 463.21001913592033, + 10.775829196531015, + -0.21253158027937769 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 465.80809534727365, + 12.275829196531015, + -0.21253158027937769 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 468.40617155862697, + 13.775829196531015, + -0.21253158027937769 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 471.0042477699803, + 15.275829196531015, + -0.21253158027937769 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 473.6023239813336, + 16.775829196531014, + -0.21253158027937769 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982984 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 476.2004001926869, + 18.275829196531014, + -0.21253158027937769 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 478.79847640404023, + 19.775829196531014, + -0.21253158027937769 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 481.2035136413574, + 19.23793586730957, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-31_21-59-58_2044897763/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_21-59-58_2044897763/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6dd1b1d54c89fb721bf665edeb1573741f03f2ea --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_21-59-58_2044897763/pose.jsonl @@ -0,0 +1,469 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -713.1497459991832, + 145.06169909436852, + 0.16186121921820984 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -715.7478222105365, + 143.56169909436852, + 0.16186121921820984 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -718.3458984218898, + 142.06169909436852, + 0.16186121921820984 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -720.9439746332432, + 140.56169909436852, + 0.16186121921820984 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -723.5420508445966, + 139.06169909436852, + 0.16186121921820984 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -726.14012705595, + 137.56169909436852, + 0.16186121921820984 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -728.7382032673033, + 136.06169909436852, + 0.16186121921820984 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -731.3362794786567, + 134.56169909436852, + 0.16186121921820984 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -733.9343556900101, + 133.06169909436852, + 0.16186121921820984 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -736.5324319013635, + 131.56169909436852, + 0.16186121921820984 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -739.1305081127168, + 130.06169909436852, + 0.16186121921820984 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -741.7285843240702, + 128.56169909436852, + 0.16186121921820984 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -744.3266605354236, + 127.06169909436852, + 0.16186121921820984 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -746.924736746777, + 125.56169909436852, + 0.16186121921820984 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -749.5228129581303, + 124.06169909436852, + 0.16186121921820984 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -752.1208891694837, + 122.56169909436852, + 0.16186121921820984 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -754.7189653808371, + 121.06169909436852, + 0.16186121921820984 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -757.3170415921904, + 119.56169909436852, + 0.16186121921820984 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -759.9151178035438, + 118.06169909436852, + 0.16186121921820984 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -762.5131940148972, + 116.56169909436852, + 0.16186121921820984 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -762.5131940148972, + 116.56169909436852, + 0.16186121921820984 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -764.0131940148972, + 113.9636228830152, + 0.16186121921820984 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -765.5131940148972, + 111.36554667166189, + 0.16186121921820984 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -767.0131940148972, + 108.76747046030857, + 0.16186121921820984 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -768.5131940148972, + 106.16939424895526, + 0.16186121921820984 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -770.0131940148972, + 103.57131803760194, + 0.16186121921820984 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -771.5131940148972, + 100.97324182624862, + 0.16186121921820984 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -773.0131940148972, + 98.37516561489531, + 0.16186121921820984 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -774.5131940148972, + 95.77708940354199, + 0.16186121921820984 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -776.0131940148972, + 93.17901319218868, + 0.16186121921820984 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -777.5131940148972, + 90.58093698083536, + 0.16186121921820984 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -779.0131940148972, + 87.98286076948204, + 0.16186121921820984 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -780.5131940148972, + 85.38478455812873, + 0.16186121921820984 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -780.5131940148972, + 85.38478455812873, + 0.16186121921820984 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -783.1112702262506, + 83.88478455812873, + 0.16186121921820984 + ], + "type": "stop", + "value": 0, + "yaw": -2.617993877991494 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -785.9369680786133, + 81.05284317016601, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-31_22-17-55_1477171087/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_22-17-55_1477171087/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c479e514c5ded56a09ea8a3d0b393999f599562e --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_22-17-55_1477171087/pose.jsonl @@ -0,0 +1,508 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -658.9943784639197, + 382.8731424212375, + -2.2380795136725515 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -658.9943784639197, + 379.8731424212375, + -2.2380795136725515 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -658.9943784639197, + 376.8731424212375, + -2.2380795136725515 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -658.9943784639197, + 373.8731424212375, + -2.2380795136725515 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -658.9943784639197, + 370.8731424212375, + -2.2380795136725515 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -658.9943784639197, + 367.8731424212375, + -2.2380795136725515 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -658.9943784639197, + 364.8731424212375, + -2.2380795136725515 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -658.9943784639197, + 361.8731424212375, + -2.2380795136725515 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -658.9943784639197, + 358.8731424212375, + -2.2380795136725515 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -658.9943784639197, + 355.8731424212375, + -2.2380795136725515 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -658.9943784639197, + 352.8731424212375, + -2.2380795136725515 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -658.9943784639197, + 349.8731424212375, + -2.2380795136725515 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -658.9943784639197, + 346.8731424212375, + -2.2380795136725515 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -658.9943784639197, + 343.8731424212375, + -2.2380795136725515 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -658.9943784639197, + 340.8731424212375, + -2.2380795136725515 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -658.9943784639197, + 337.8731424212375, + -2.2380795136725515 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -658.9943784639197, + 334.8731424212375, + -2.2380795136725515 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -658.9943784639197, + 331.8731424212375, + -2.2380795136725515 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -658.9943784639197, + 328.8731424212375, + -2.2380795136725515 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -658.9943784639197, + 325.8731424212375, + -2.2380795136725515 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -658.9943784639197, + 322.8731424212375, + -2.2380795136725515 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -658.9943784639197, + 319.8731424212375, + -2.2380795136725515 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -658.9943784639197, + 316.8731424212375, + -2.2380795136725515 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -658.9943784639197, + 313.8731424212375, + -2.2380795136725515 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -658.9943784639197, + 310.8731424212375, + -2.2380795136725515 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -658.9943784639197, + 307.8731424212375, + -2.2380795136725515 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -658.9943784639197, + 304.8731424212375, + -2.2380795136725515 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -658.9943784639197, + 301.8731424212375, + -2.2380795136725515 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -658.9943784639197, + 298.8731424212375, + -2.2380795136725515 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -658.9943784639197, + 295.8731424212375, + -2.2380795136725515 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -658.9943784639197, + 292.8731424212375, + -2.2380795136725515 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -658.9943784639197, + 292.8731424212375, + -2.2380795136725515 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -660.4943784639197, + 290.2750662098842, + -2.2380795136725515 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -661.9943784639197, + 287.67698999853087, + -2.2380795136725515 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -663.4943784639197, + 285.07891378717756, + -2.2380795136725515 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -664.9943784639197, + 282.48083757582424, + -2.2380795136725515 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -666.4943784639197, + 279.8827613644709, + -2.2380795136725515 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -667.9943784639197, + 277.2846851531176, + -2.2380795136725515 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -669.1686190795898, + 276.07490257263186, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-31_22-20-42_2053999932/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_22-20-42_2053999932/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1c3b6907708034028383778aef5243124c896216 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_22-20-42_2053999932/pose.jsonl @@ -0,0 +1,495 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -924.2015153451002, + 1.2237512405878057, + -0.05716597847712457 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -921.2015153451002, + 1.2237512405878057, + -0.05716597847712457 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -918.2015153451002, + 1.2237512405878057, + -0.05716597847712457 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -915.2015153451002, + 1.2237512405878057, + -0.05716597847712457 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -912.2015153451002, + 1.2237512405878057, + -0.05716597847712457 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -909.2015153451002, + 1.2237512405878057, + -0.05716597847712457 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -906.2015153451002, + 1.2237512405878057, + -0.05716597847712457 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -903.2015153451002, + 1.2237512405878057, + -0.05716597847712457 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -900.2015153451002, + 1.2237512405878057, + -0.05716597847712457 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -897.2015153451002, + 1.2237512405878057, + -0.05716597847712457 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -894.2015153451002, + 1.2237512405878057, + -0.05716597847712457 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -891.2015153451002, + 1.2237512405878057, + -0.05716597847712457 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -888.2015153451002, + 1.2237512405878057, + -0.05716597847712457 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -885.2015153451002, + 1.2237512405878057, + -0.05716597847712457 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -882.2015153451002, + 1.2237512405878057, + -0.05716597847712457 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -879.2015153451002, + 1.2237512405878057, + -0.05716597847712457 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -876.2015153451002, + 1.2237512405878057, + -0.05716597847712457 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -873.2015153451002, + 1.2237512405878057, + -0.05716597847712457 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -870.2015153451002, + 1.2237512405878057, + -0.05716597847712457 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -867.2015153451002, + 1.2237512405878057, + -0.05716597847712457 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -864.2015153451002, + 1.2237512405878057, + -0.05716597847712457 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -861.2015153451002, + 1.2237512405878057, + -0.05716597847712457 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -858.2015153451002, + 1.2237512405878057, + -0.05716597847712457 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -855.2015153451002, + 1.2237512405878057, + -0.05716597847712457 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -852.2015153451002, + 1.2237512405878057, + -0.05716597847712457 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -849.2015153451002, + 1.2237512405878057, + -0.05716597847712457 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -846.2015153451002, + 1.2237512405878057, + -0.05716597847712457 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -843.2015153451002, + 1.2237512405878057, + -0.05716597847712457 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -840.2015153451002, + 1.2237512405878057, + -0.05716597847712457 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -840.2015153451002, + 1.2237512405878057, + -0.05716597847712457 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -837.6034391337469, + 2.7237512405878057, + -0.05716597847712457 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -835.0053629223935, + 4.223751240587806, + -0.05716597847712457 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -832.4072867110401, + 5.723751240587806, + -0.05716597847712457 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -829.8092104996867, + 7.223751240587806, + -0.05716597847712457 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -827.2111342883334, + 8.723751240587806, + -0.05716597847712457 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -824.61305807698, + 10.223751240587806, + -0.05716597847712457 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -822.0149818656266, + 11.723751240587806, + -0.05716597847712457 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -821.0513497924804, + 12.496731524467467, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-31_22-21-17_1411549676/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_22-21-17_1411549676/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..28c9dd8d8f1787020bc62df9dc0bbc5eff849ce8 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_22-21-17_1411549676/pose.jsonl @@ -0,0 +1,495 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 330.47762949317286, + 548.0840455507474, + 2.278856783638492 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 333.47762949317286, + 548.0840455507474, + 2.278856783638492 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 336.47762949317286, + 548.0840455507474, + 2.278856783638492 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 339.47762949317286, + 548.0840455507474, + 2.278856783638492 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 342.47762949317286, + 548.0840455507474, + 2.278856783638492 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 345.47762949317286, + 548.0840455507474, + 2.278856783638492 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 348.47762949317286, + 548.0840455507474, + 2.278856783638492 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 351.47762949317286, + 548.0840455507474, + 2.278856783638492 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 354.47762949317286, + 548.0840455507474, + 2.278856783638492 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 357.47762949317286, + 548.0840455507474, + 2.278856783638492 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 360.47762949317286, + 548.0840455507474, + 2.278856783638492 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 363.47762949317286, + 548.0840455507474, + 2.278856783638492 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 366.47762949317286, + 548.0840455507474, + 2.278856783638492 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 369.47762949317286, + 548.0840455507474, + 2.278856783638492 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 372.47762949317286, + 548.0840455507474, + 2.278856783638492 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 375.47762949317286, + 548.0840455507474, + 2.278856783638492 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 378.47762949317286, + 548.0840455507474, + 2.278856783638492 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 381.47762949317286, + 548.0840455507474, + 2.278856783638492 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 384.47762949317286, + 548.0840455507474, + 2.278856783638492 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 387.47762949317286, + 548.0840455507474, + 2.278856783638492 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 390.47762949317286, + 548.0840455507474, + 2.278856783638492 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 393.47762949317286, + 548.0840455507474, + 2.278856783638492 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 396.47762949317286, + 548.0840455507474, + 2.278856783638492 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 399.47762949317286, + 548.0840455507474, + 2.278856783638492 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 402.47762949317286, + 548.0840455507474, + 2.278856783638492 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 405.47762949317286, + 548.0840455507474, + 2.278856783638492 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 408.47762949317286, + 548.0840455507474, + 2.278856783638492 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 408.47762949317286, + 548.0840455507474, + 2.278856783638492 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 411.0757057045262, + 549.5840455507474, + 2.278856783638492 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 413.6737819158795, + 551.0840455507474, + 2.278856783638492 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 416.2718581272328, + 552.5840455507474, + 2.278856783638492 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 418.8699343385861, + 554.0840455507474, + 2.278856783638492 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 421.46801054993944, + 555.5840455507474, + 2.278856783638492 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 424.06608676129275, + 557.0840455507474, + 2.278856783638492 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 426.66416297264607, + 558.5840455507474, + 2.278856783638492 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 429.2622391839994, + 560.0840455507474, + 2.278856783638492 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 431.8603153953527, + 561.5840455507474, + 2.278856783638492 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 434.03729019165036, + 563.8867979431152, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-31_22-26-49_959997301/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_22-26-49_959997301/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6794c166d8f02d6b2999bb71e109c3d918684d6e --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_22-26-49_959997301/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 98.06893831783361, + -342.67012649144203, + 1.396031707475034 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 100.66701452918693, + -341.17012649144203, + 1.396031707475034 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 103.26509074054024, + -339.67012649144203, + 1.396031707475034 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 105.86316695189356, + -338.17012649144203, + 1.396031707475034 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 108.46124316324688, + -336.67012649144203, + 1.396031707475034 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 111.0593193746002, + -335.17012649144203, + 1.396031707475034 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 113.65739558595351, + -333.67012649144203, + 1.396031707475034 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 116.25547179730683, + -332.17012649144203, + 1.396031707475034 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 118.85354800866014, + -330.67012649144203, + 1.396031707475034 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 121.45162422001346, + -329.17012649144203, + 1.396031707475034 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 124.04970043136677, + -327.67012649144203, + 1.396031707475034 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 126.64777664272009, + -326.17012649144203, + 1.396031707475034 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 129.2458528540734, + -324.67012649144203, + 1.396031707475034 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 131.84392906542672, + -323.17012649144203, + 1.396031707475034 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 134.44200527678004, + -321.67012649144203, + 1.396031707475034 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 137.04008148813335, + -320.17012649144203, + 1.396031707475034 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 139.63815769948667, + -318.67012649144203, + 1.396031707475034 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 142.23623391083999, + -317.17012649144203, + 1.396031707475034 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 144.8343101221933, + -315.67012649144203, + 1.396031707475034 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 147.43238633354662, + -314.17012649144203, + 1.396031707475034 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 150.03046254489993, + -312.67012649144203, + 1.396031707475034 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 152.62853875625325, + -311.17012649144203, + 1.396031707475034 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 155.22661496760657, + -309.67012649144203, + 1.396031707475034 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 155.22661496760657, + -309.67012649144203, + 1.396031707475034 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 155.22661496760657, + -309.67012649144203, + 1.396031707475034 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 155.22661496760657, + -306.67012649144203, + 1.396031707475034 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 155.22661496760657, + -303.67012649144203, + 1.396031707475034 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 156.50516716003418, + -301.9973617553711, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-31_22-28-3_894429689/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_22-28-3_894429689/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4987307235d986b72acd30aaa4a7a61a60c7a804 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_22-28-3_894429689/pose.jsonl @@ -0,0 +1,547 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -103.09285114021104, + 728.7539735973753, + 1.9622110233140546 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -100.09285114021104, + 728.7539735973753, + 1.9622110233140546 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -97.09285114021104, + 728.7539735973753, + 1.9622110233140546 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -94.09285114021104, + 728.7539735973753, + 1.9622110233140546 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -91.09285114021104, + 728.7539735973753, + 1.9622110233140546 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -88.09285114021104, + 728.7539735973753, + 1.9622110233140546 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -85.09285114021104, + 728.7539735973753, + 1.9622110233140546 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -82.09285114021104, + 728.7539735973753, + 1.9622110233140546 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -79.09285114021104, + 728.7539735973753, + 1.9622110233140546 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -76.09285114021104, + 728.7539735973753, + 1.9622110233140546 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -73.09285114021104, + 728.7539735973753, + 1.9622110233140546 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -70.09285114021104, + 728.7539735973753, + 1.9622110233140546 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -67.09285114021104, + 728.7539735973753, + 1.9622110233140546 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -67.09285114021104, + 728.7539735973753, + 1.9622110233140546 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -67.09285114021104, + 728.7539735973753, + 1.9622110233140546 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -65.59285114021104, + 726.1558973860219, + 1.9622110233140546 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -64.09285114021104, + 723.5578211746686, + 1.9622110233140546 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -62.59285114021104, + 720.9597449633152, + 1.9622110233140546 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -62.59285114021104, + 720.9597449633152, + 1.9622110233140546 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -59.99477492885772, + 719.4597449633152, + 1.9622110233140546 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -57.39669871750441, + 717.9597449633152, + 1.9622110233140546 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -54.79862250615109, + 716.4597449633152, + 1.9622110233140546 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -52.200546294797775, + 714.9597449633152, + 1.9622110233140546 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -49.60247008344446, + 713.4597449633152, + 1.9622110233140546 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -47.00439387209114, + 711.9597449633152, + 1.9622110233140546 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -44.40631766073783, + 710.4597449633152, + 1.9622110233140546 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -41.80824144938451, + 708.9597449633152, + 1.9622110233140546 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -39.210165238031195, + 707.4597449633152, + 1.9622110233140546 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -36.61208902667788, + 705.9597449633152, + 1.9622110233140546 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -34.01401281532456, + 704.4597449633152, + 1.9622110233140546 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -31.415936603971247, + 702.9597449633152, + 1.9622110233140546 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -28.81786039261793, + 701.4597449633152, + 1.9622110233140546 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -26.219784181264615, + 699.9597449633152, + 1.9622110233140546 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -23.6217079699113, + 698.4597449633152, + 1.9622110233140546 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -21.023631758557983, + 696.9597449633152, + 1.9622110233140546 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -18.425555547204667, + 695.4597449633152, + 1.9622110233140546 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -15.82747933585135, + 693.9597449633152, + 1.9622110233140546 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -13.229403124498035, + 692.4597449633152, + 1.9622110233140546 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -13.229403124498035, + 692.4597449633152, + 1.9622110233140546 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -10.229403124498035, + 692.4597449633152, + 1.9622110233140546 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -7.229403124498035, + 692.4597449633152, + 1.9622110233140546 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -5.930885200500488, + 691.5702409362793, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-31_22-30-22_2007905771/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_22-30-22_2007905771/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b0ef9d16a69b5b0b83cf87f2f51b594c3e8747d4 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_22-30-22_2007905771/pose.jsonl @@ -0,0 +1,391 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -41.8511645523331, + 148.0619888530639, + -2.5273781266050697 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -38.8511645523331, + 148.0619888530639, + -2.5273781266050697 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -35.8511645523331, + 148.0619888530639, + -2.5273781266050697 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -32.8511645523331, + 148.0619888530639, + -2.5273781266050697 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -29.851164552333103, + 148.0619888530639, + -2.5273781266050697 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -26.851164552333103, + 148.0619888530639, + -2.5273781266050697 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -23.851164552333103, + 148.0619888530639, + -2.5273781266050697 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -20.851164552333103, + 148.0619888530639, + -2.5273781266050697 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -17.851164552333103, + 148.0619888530639, + -2.5273781266050697 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -14.851164552333103, + 148.0619888530639, + -2.5273781266050697 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -11.851164552333103, + 148.0619888530639, + -2.5273781266050697 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -8.851164552333103, + 148.0619888530639, + -2.5273781266050697 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -5.851164552333103, + 148.0619888530639, + -2.5273781266050697 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2.8511645523331026, + 148.0619888530639, + -2.5273781266050697 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 0.14883544766689738, + 148.0619888530639, + -2.5273781266050697 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 3.1488354476668974, + 148.0619888530639, + -2.5273781266050697 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 6.148835447666897, + 148.0619888530639, + -2.5273781266050697 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 9.148835447666897, + 148.0619888530639, + -2.5273781266050697 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 9.148835447666897, + 148.0619888530639, + -2.5273781266050697 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 11.746911659020213, + 149.5619888530639, + -2.5273781266050697 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 14.34498787037353, + 151.0619888530639, + -2.5273781266050697 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 16.943064081726845, + 152.5619888530639, + -2.5273781266050697 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 19.54114029308016, + 154.0619888530639, + -2.5273781266050697 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 22.139216504433477, + 155.5619888530639, + -2.5273781266050697 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 24.737292715786793, + 157.0619888530639, + -2.5273781266050697 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 27.33536892714011, + 158.5619888530639, + -2.5273781266050697 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 29.933445138493425, + 160.0619888530639, + -2.5273781266050697 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 32.53152134984674, + 161.5619888530639, + -2.5273781266050697 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 35.12959756120006, + 163.0619888530639, + -2.5273781266050697 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 36.64368785858154, + 161.94002262115478, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-31_22-34-19_160051528/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_22-34-19_160051528/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e74006b7dd547e6b11e7c72d17858084882d326c --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_22-34-19_160051528/pose.jsonl @@ -0,0 +1,469 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -998.7030902692679, + 253.99117929663058, + 3.4980030144871126 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -998.7030902692679, + 256.99117929663055, + 3.4980030144871126 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -998.7030902692679, + 259.99117929663055, + 3.4980030144871126 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -998.7030902692679, + 262.99117929663055, + 3.4980030144871126 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -998.7030902692679, + 265.99117929663055, + 3.4980030144871126 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -998.7030902692679, + 268.99117929663055, + 3.4980030144871126 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -998.7030902692679, + 271.99117929663055, + 3.4980030144871126 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -998.7030902692679, + 274.99117929663055, + 3.4980030144871126 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -998.7030902692679, + 277.99117929663055, + 3.4980030144871126 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -998.7030902692679, + 280.99117929663055, + 3.4980030144871126 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -998.7030902692679, + 283.99117929663055, + 3.4980030144871126 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -998.7030902692679, + 286.99117929663055, + 3.4980030144871126 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -998.7030902692679, + 289.99117929663055, + 3.4980030144871126 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -998.7030902692679, + 292.99117929663055, + 3.4980030144871126 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -998.7030902692679, + 295.99117929663055, + 3.4980030144871126 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -998.7030902692679, + 298.99117929663055, + 3.4980030144871126 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -998.7030902692679, + 301.99117929663055, + 3.4980030144871126 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -998.7030902692679, + 304.99117929663055, + 3.4980030144871126 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -998.7030902692679, + 307.99117929663055, + 3.4980030144871126 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -998.7030902692679, + 310.99117929663055, + 3.4980030144871126 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -998.7030902692679, + 313.99117929663055, + 3.4980030144871126 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -998.7030902692679, + 316.99117929663055, + 3.4980030144871126 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -998.7030902692679, + 319.99117929663055, + 3.4980030144871126 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -998.7030902692679, + 319.99117929663055, + 3.4980030144871126 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -998.7030902692679, + 319.99117929663055, + 3.4980030144871126 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -996.1050140579146, + 321.49117929663055, + 3.4980030144871126 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -993.5069378465612, + 322.99117929663055, + 3.4980030144871126 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -990.9088616352078, + 324.49117929663055, + 3.4980030144871126 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -990.9088616352078, + 324.49117929663055, + 3.4980030144871126 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -989.4088616352078, + 327.08925550798386, + 3.4980030144871126 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -987.9088616352078, + 329.6873317193372, + 3.4980030144871126 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -986.4088616352078, + 332.2854079306905, + 3.4980030144871126 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -984.9088616352078, + 334.8834841420438, + 3.4980030144871126 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -983.4088616352078, + 337.48156035339713, + 3.4980030144871126 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -981.9088616352078, + 340.07963656475044, + 3.4980030144871126 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -979.8297436523437, + 358.6925830078125, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-31_22-36-18_1409959708/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_22-36-18_1409959708/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..23ebe7709047cae361011a007ca37efcae605cff --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_22-36-18_1409959708/pose.jsonl @@ -0,0 +1,222 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -977.7167912698645, + 220.2032061937456, + -1.372890103558575 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -979.2167912698645, + 222.8012824050989, + -1.372890103558575 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -980.7167912698645, + 225.39935861645222, + -1.372890103558575 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -982.2167912698645, + 227.99743482780553, + -1.372890103558575 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -983.7167912698645, + 230.59551103915885, + -1.372890103558575 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -985.2167912698645, + 233.19358725051217, + -1.372890103558575 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -986.7167912698645, + 235.79166346186548, + -1.372890103558575 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -988.2167912698645, + 238.3897396732188, + -1.372890103558575 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -989.7167912698645, + 240.98781588457211, + -1.372890103558575 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -991.2167912698645, + 243.58589209592543, + -1.372890103558575 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -992.7167912698645, + 246.18396830727875, + -1.372890103558575 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -994.2167912698645, + 248.78204451863206, + -1.372890103558575 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -994.2167912698645, + 248.78204451863206, + -1.372890103558575 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -994.2167912698645, + 248.78204451863206, + -1.372890103558575 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -997.2167912698645, + 248.78204451863206, + -1.372890103558575 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1000.2167912698645, + 248.78204451863206, + -1.372890103558575 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1041.4117810058594, + 301.62743286132815, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-31_22-40-15_1911165193/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_22-40-15_1911165193/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a2727dc8a35dca86e3f7d92f6012e6de39cbebf6 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_22-40-15_1911165193/pose.jsonl @@ -0,0 +1,521 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -609.1064986486723, + 368.8349216637049, + 4.382235691373106 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -610.6064986486723, + 366.2368454523516, + 4.382235691373106 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -612.1064986486723, + 363.6387692409983, + 4.382235691373106 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -613.6064986486723, + 361.04069302964496, + 4.382235691373106 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -615.1064986486723, + 358.44261681829164, + 4.382235691373106 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -616.6064986486723, + 355.8445406069383, + 4.382235691373106 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -618.1064986486723, + 353.246464395585, + 4.382235691373106 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -619.6064986486723, + 350.6483881842317, + 4.382235691373106 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -621.1064986486723, + 348.0503119728784, + 4.382235691373106 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -622.6064986486723, + 345.45223576152506, + 4.382235691373106 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -624.1064986486723, + 342.85415955017174, + 4.382235691373106 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -625.6064986486723, + 340.2560833388184, + 4.382235691373106 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -627.1064986486723, + 337.6580071274651, + 4.382235691373106 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -628.6064986486723, + 335.0599309161118, + 4.382235691373106 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -630.1064986486723, + 332.4618547047585, + 4.382235691373106 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -631.6064986486723, + 329.86377849340516, + 4.382235691373106 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -633.1064986486723, + 327.26570228205185, + 4.382235691373106 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -634.6064986486723, + 324.66762607069853, + 4.382235691373106 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -636.1064986486723, + 322.0695498593452, + 4.382235691373106 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -637.6064986486723, + 319.4714736479919, + 4.382235691373106 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -639.1064986486723, + 316.8733974366386, + 4.382235691373106 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -640.6064986486723, + 314.27532122528527, + 4.382235691373106 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -642.1064986486723, + 311.67724501393195, + 4.382235691373106 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -643.6064986486723, + 309.07916880257864, + 4.382235691373106 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -645.1064986486723, + 306.4810925912253, + 4.382235691373106 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -646.6064986486723, + 303.883016379872, + 4.382235691373106 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -648.1064986486723, + 301.2849401685187, + 4.382235691373106 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -649.6064986486723, + 298.6868639571654, + 4.382235691373106 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -651.1064986486723, + 296.08878774581206, + 4.382235691373106 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -652.6064986486723, + 293.49071153445874, + 4.382235691373106 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -654.1064986486723, + 290.8926353231054, + 4.382235691373106 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -655.6064986486723, + 288.2945591117521, + 4.382235691373106 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -657.1064986486723, + 285.6964829003988, + 4.382235691373106 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -658.6064986486723, + 283.0984066890455, + 4.382235691373106 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -660.1064986486723, + 280.50033047769216, + 4.382235691373106 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -660.1064986486723, + 280.50033047769216, + 4.382235691373106 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -662.7045748600256, + 279.00033047769216, + 4.382235691373106 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -665.3026510713789, + 277.50033047769216, + 4.382235691373106 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -667.9007272827323, + 276.00033047769216, + 4.382235691373106 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -669.1686190795898, + 276.07490257263186, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-31_22-41-1_116087764/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_22-41-1_116087764/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e5b2b73f3e46e164975ed907aaeeff583eb2dbb1 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_22-41-1_116087764/pose.jsonl @@ -0,0 +1,391 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -868.1139526859926, + 293.557405582077, + -1.7676429943951937 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -870.7120288973458, + 295.057405582077, + -1.7676429943951937 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -873.3101051086992, + 296.557405582077, + -1.7676429943951937 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -875.9081813200526, + 298.057405582077, + -1.7676429943951937 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -878.5062575314059, + 299.557405582077, + -1.7676429943951937 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -881.1043337427593, + 301.057405582077, + -1.7676429943951937 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -883.7024099541127, + 302.557405582077, + -1.7676429943951937 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -886.300486165466, + 304.057405582077, + -1.7676429943951937 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -888.8985623768194, + 305.557405582077, + -1.7676429943951937 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -891.4966385881728, + 307.057405582077, + -1.7676429943951937 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -894.0947147995262, + 308.557405582077, + -1.7676429943951937 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -896.6927910108795, + 310.057405582077, + -1.7676429943951937 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -899.2908672222329, + 311.557405582077, + -1.7676429943951937 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -901.8889434335863, + 313.057405582077, + -1.7676429943951937 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -904.4870196449397, + 314.557405582077, + -1.7676429943951937 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -907.085095856293, + 316.057405582077, + -1.7676429943951937 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -909.6831720676464, + 317.557405582077, + -1.7676429943951937 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -912.2812482789998, + 319.057405582077, + -1.7676429943951937 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -914.8793244903532, + 320.557405582077, + -1.7676429943951937 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -917.4774007017065, + 322.057405582077, + -1.7676429943951937 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -920.0754769130599, + 323.557405582077, + -1.7676429943951937 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -922.6735531244133, + 325.057405582077, + -1.7676429943951937 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -925.2716293357666, + 326.557405582077, + -1.7676429943951937 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -927.86970554712, + 328.057405582077, + -1.7676429943951937 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -930.4677817584734, + 329.557405582077, + -1.7676429943951937 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -933.0658579698268, + 331.057405582077, + -1.7676429943951937 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -935.6639341811801, + 332.557405582077, + -1.7676429943951937 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -938.2620103925335, + 334.057405582077, + -1.7676429943951937 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -940.8600866038869, + 335.557405582077, + -1.7676429943951937 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -942.5730328369141, + 336.42247901916505, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-31_22-41-32_155324914/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_22-41-32_155324914/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fcc71ed4de14ae1758fd2d9028551004cb97558c --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_22-41-32_155324914/pose.jsonl @@ -0,0 +1,404 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 8.915688010927415, + 617.8163621428869, + 1.9614116570384832 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 8.915688010927415, + 620.8163621428869, + 1.9614116570384832 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 8.915688010927415, + 623.8163621428869, + 1.9614116570384832 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 8.915688010927415, + 626.8163621428869, + 1.9614116570384832 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 8.915688010927415, + 629.8163621428869, + 1.9614116570384832 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 8.915688010927415, + 632.8163621428869, + 1.9614116570384832 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 8.915688010927415, + 635.8163621428869, + 1.9614116570384832 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 8.915688010927415, + 638.8163621428869, + 1.9614116570384832 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 8.915688010927415, + 641.8163621428869, + 1.9614116570384832 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 8.915688010927415, + 644.8163621428869, + 1.9614116570384832 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 8.915688010927415, + 647.8163621428869, + 1.9614116570384832 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 8.915688010927415, + 650.8163621428869, + 1.9614116570384832 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 8.915688010927415, + 653.8163621428869, + 1.9614116570384832 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 8.915688010927415, + 656.8163621428869, + 1.9614116570384832 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 8.915688010927415, + 659.8163621428869, + 1.9614116570384832 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 8.915688010927415, + 662.8163621428869, + 1.9614116570384832 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 8.915688010927415, + 665.8163621428869, + 1.9614116570384832 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 8.915688010927415, + 668.8163621428869, + 1.9614116570384832 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 8.915688010927415, + 671.8163621428869, + 1.9614116570384832 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 8.915688010927415, + 674.8163621428869, + 1.9614116570384832 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 8.915688010927415, + 674.8163621428869, + 1.9614116570384832 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 8.915688010927415, + 674.8163621428869, + 1.9614116570384832 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 6.317611799574099, + 676.3163621428869, + 1.9614116570384832 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 3.719535588220783, + 677.8163621428869, + 1.9614116570384832 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1.1214593768674668, + 679.3163621428869, + 1.9614116570384832 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1.1214593768674668, + 679.3163621428869, + 1.9614116570384832 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -0.37854062313253256, + 681.9144383542402, + 1.9614116570384832 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1.878540623132532, + 684.5125145655936, + 1.9614116570384832 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -3.3785406231325315, + 687.110590776947, + 1.9614116570384832 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -4.878540623132531, + 689.7086669883004, + 1.9614116570384832 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -5.930885200500488, + 691.5702409362793, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-31_22-43-36_1760281936/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_22-43-36_1760281936/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..deafe4c1bac373e253603bce8f276fd66588d6ab --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_22-43-36_1760281936/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -928.80238075078, + 366.0511016686511, + -4.212217371818181 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -927.30238075078, + 368.6491778800044, + -4.212217371818181 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -925.80238075078, + 371.2472540913577, + -4.212217371818181 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -924.30238075078, + 373.84533030271103, + -4.212217371818181 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -922.80238075078, + 376.44340651406435, + -4.212217371818181 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -921.30238075078, + 379.04148272541767, + -4.212217371818181 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -919.80238075078, + 381.639558936771, + -4.212217371818181 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -918.30238075078, + 384.2376351481243, + -4.212217371818181 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -916.80238075078, + 386.8357113594776, + -4.212217371818181 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -915.30238075078, + 389.43378757083093, + -4.212217371818181 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -913.80238075078, + 392.03186378218425, + -4.212217371818181 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -912.30238075078, + 394.62993999353756, + -4.212217371818181 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -910.80238075078, + 397.2280162048909, + -4.212217371818181 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -909.30238075078, + 399.8260924162442, + -4.212217371818181 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -907.80238075078, + 402.4241686275975, + -4.212217371818181 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -907.80238075078, + 402.4241686275975, + -4.212217371818181 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -905.2043045394266, + 403.9241686275975, + -4.212217371818181 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -902.6062283280733, + 405.4241686275975, + -4.212217371818181 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -900.0081521167199, + 406.9241686275975, + -4.212217371818181 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -897.4100759053665, + 408.4241686275975, + -4.212217371818181 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -894.8119996940131, + 409.9241686275975, + -4.212217371818181 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -892.2139234826598, + 411.4241686275975, + -4.212217371818181 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -889.6158472713064, + 412.9241686275975, + -4.212217371818181 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -887.017771059953, + 414.4241686275975, + -4.212217371818181 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -884.4196948485996, + 415.9241686275975, + -4.212217371818181 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -884.2225183105469, + 417.81855880737305, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-31_22-44-6_1186452551/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_22-44-6_1186452551/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b872f451474e7d0bca18d428aa21f8a452c45d70 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_22-44-6_1186452551/pose.jsonl @@ -0,0 +1,469 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -674.4544210639425, + 45.97554321458074, + -0.6644667353612315 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -675.9544210639425, + 48.573619425934055, + -0.6644667353612315 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -677.4544210639425, + 51.17169563728737, + -0.6644667353612315 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -678.9544210639425, + 53.76977184864069, + -0.6644667353612315 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -680.4544210639425, + 56.367848059994, + -0.6644667353612315 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -681.9544210639425, + 58.96592427134732, + -0.6644667353612315 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -683.4544210639425, + 61.564000482700635, + -0.6644667353612315 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -684.9544210639425, + 64.16207669405395, + -0.6644667353612315 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -686.4544210639425, + 66.76015290540727, + -0.6644667353612315 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -687.9544210639425, + 69.35822911676058, + -0.6644667353612315 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -689.4544210639425, + 71.9563053281139, + -0.6644667353612315 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -690.9544210639425, + 74.55438153946722, + -0.6644667353612315 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -692.4544210639425, + 77.15245775082053, + -0.6644667353612315 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -693.9544210639425, + 79.75053396217385, + -0.6644667353612315 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -695.4544210639425, + 82.34861017352716, + -0.6644667353612315 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -696.9544210639425, + 84.94668638488048, + -0.6644667353612315 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -698.4544210639425, + 87.5447625962338, + -0.6644667353612315 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -699.9544210639425, + 90.14283880758711, + -0.6644667353612315 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -701.4544210639425, + 92.74091501894043, + -0.6644667353612315 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -702.9544210639425, + 95.33899123029374, + -0.6644667353612315 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -704.4544210639425, + 97.93706744164706, + -0.6644667353612315 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -705.9544210639425, + 100.53514365300038, + -0.6644667353612315 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -707.4544210639425, + 103.13321986435369, + -0.6644667353612315 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -708.9544210639425, + 105.73129607570701, + -0.6644667353612315 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -710.4544210639425, + 108.32937228706032, + -0.6644667353612315 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -711.9544210639425, + 110.92744849841364, + -0.6644667353612315 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -713.4544210639425, + 113.52552470976696, + -0.6644667353612315 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -714.9544210639425, + 116.12360092112027, + -0.6644667353612315 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -716.4544210639425, + 118.72167713247359, + -0.6644667353612315 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -717.9544210639425, + 121.3197533438269, + -0.6644667353612315 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -719.4544210639425, + 123.91782955518022, + -0.6644667353612315 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -720.9544210639425, + 126.51590576653354, + -0.6644667353612315 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -720.9544210639425, + 126.51590576653354, + -0.6644667353612315 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -723.5524972752958, + 128.01590576653354, + -0.6644667353612315 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -726.1505734866491, + 129.51590576653354, + -0.6644667353612315 + ], + "type": "stop", + "value": 0, + "yaw": 2.617993877991485 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -726.8706622314453, + 130.96456672668458, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-31_22-53-30_496987743/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_22-53-30_496987743/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c43fe4d5c0f0d9f817396319fcbde67c89b7f306 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_22-53-30_496987743/pose.jsonl @@ -0,0 +1,482 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -260.7525250452627, + -364.0188391133508, + -4.088641467641861 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -260.7525250452627, + -367.0188391133508, + -4.088641467641861 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -260.7525250452627, + -370.0188391133508, + -4.088641467641861 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -260.7525250452627, + -373.0188391133508, + -4.088641467641861 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -260.7525250452627, + -376.0188391133508, + -4.088641467641861 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -260.7525250452627, + -379.0188391133508, + -4.088641467641861 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -260.7525250452627, + -382.0188391133508, + -4.088641467641861 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -260.7525250452627, + -385.0188391133508, + -4.088641467641861 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -260.7525250452627, + -388.0188391133508, + -4.088641467641861 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -260.7525250452627, + -391.0188391133508, + -4.088641467641861 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -260.7525250452627, + -394.0188391133508, + -4.088641467641861 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -260.7525250452627, + -397.0188391133508, + -4.088641467641861 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -260.7525250452627, + -400.0188391133508, + -4.088641467641861 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -260.7525250452627, + -403.0188391133508, + -4.088641467641861 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -260.7525250452627, + -406.0188391133508, + -4.088641467641861 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -260.7525250452627, + -409.0188391133508, + -4.088641467641861 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -260.7525250452627, + -412.0188391133508, + -4.088641467641861 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -260.7525250452627, + -415.0188391133508, + -4.088641467641861 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -260.7525250452627, + -418.0188391133508, + -4.088641467641861 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -260.7525250452627, + -421.0188391133508, + -4.088641467641861 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -260.7525250452627, + -424.0188391133508, + -4.088641467641861 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -260.7525250452627, + -427.0188391133508, + -4.088641467641861 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -260.7525250452627, + -430.0188391133508, + -4.088641467641861 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -260.7525250452627, + -433.0188391133508, + -4.088641467641861 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -260.7525250452627, + -436.0188391133508, + -4.088641467641861 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -260.7525250452627, + -439.0188391133508, + -4.088641467641861 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -260.7525250452627, + -442.0188391133508, + -4.088641467641861 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -260.7525250452627, + -445.0188391133508, + -4.088641467641861 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -260.7525250452627, + -448.0188391133508, + -4.088641467641861 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -260.7525250452627, + -451.0188391133508, + -4.088641467641861 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -260.7525250452627, + -451.0188391133508, + -4.088641467641861 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -262.2525250452627, + -453.6169153247041, + -4.088641467641861 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -263.7525250452627, + -456.2149915360574, + -4.088641467641861 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -265.2525250452627, + -458.81306774741074, + -4.088641467641861 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -266.7525250452627, + -461.41114395876406, + -4.088641467641861 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -268.2525250452627, + -464.0092201701174, + -4.088641467641861 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -270.6246540832519, + -464.87673126220704, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-31_22-55-20_601385644/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_22-55-20_601385644/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ecef3584ee24197231cc1b8b02cfa15c6107d51b --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_22-55-20_601385644/pose.jsonl @@ -0,0 +1,352 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -671.3689431741584, + 174.00307555816815, + -0.7109050964013095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -672.8689431741584, + 176.60115176952146, + -0.7109050964013095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -674.3689431741584, + 179.19922798087478, + -0.7109050964013095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -675.8689431741584, + 181.7973041922281, + -0.7109050964013095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -677.3689431741584, + 184.3953804035814, + -0.7109050964013095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -678.8689431741584, + 186.99345661493473, + -0.7109050964013095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -680.3689431741584, + 189.59153282628805, + -0.7109050964013095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -681.8689431741584, + 192.18960903764136, + -0.7109050964013095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -683.3689431741584, + 194.78768524899468, + -0.7109050964013095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -684.8689431741584, + 197.385761460348, + -0.7109050964013095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -686.3689431741584, + 199.9838376717013, + -0.7109050964013095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -687.8689431741584, + 202.58191388305463, + -0.7109050964013095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -689.3689431741584, + 205.17999009440794, + -0.7109050964013095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -690.8689431741584, + 207.77806630576126, + -0.7109050964013095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -692.3689431741584, + 210.37614251711457, + -0.7109050964013095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -693.8689431741584, + 212.9742187284679, + -0.7109050964013095 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -693.8689431741584, + 212.9742187284679, + -0.7109050964013095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -696.4670193855118, + 214.4742187284679, + -0.7109050964013095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -699.0650955968651, + 215.9742187284679, + -0.7109050964013095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -701.6631718082185, + 217.4742187284679, + -0.7109050964013095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -704.2612480195719, + 218.9742187284679, + -0.7109050964013095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -706.8593242309253, + 220.4742187284679, + -0.7109050964013095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -709.4574004422786, + 221.9742187284679, + -0.7109050964013095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -712.055476653632, + 223.4742187284679, + -0.7109050964013095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -714.6535528649854, + 224.9742187284679, + -0.7109050964013095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -717.2516290763388, + 226.4742187284679, + -0.7109050964013095 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -719.2420056152343, + 225.9435828399658, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-31_22-59-22_502278611/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_22-59-22_502278611/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3ac92841dced7f59c4911e6bce5e37560b456b2f --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_22-59-22_502278611/pose.jsonl @@ -0,0 +1,521 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -562.9529879061552, + -120.71380839246302, + -1.960940922365018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -561.4529879061552, + -123.31188460381634, + -1.960940922365018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -559.9529879061552, + -125.90996081516965, + -1.960940922365018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -558.4529879061552, + -128.50803702652297, + -1.960940922365018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -556.9529879061552, + -131.1061132378763, + -1.960940922365018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -555.4529879061552, + -133.7041894492296, + -1.960940922365018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -553.9529879061552, + -136.30226566058292, + -1.960940922365018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -552.4529879061552, + -138.90034187193623, + -1.960940922365018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -550.9529879061552, + -141.49841808328955, + -1.960940922365018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -549.4529879061552, + -144.09649429464287, + -1.960940922365018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -547.9529879061552, + -146.69457050599618, + -1.960940922365018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -546.4529879061552, + -149.2926467173495, + -1.960940922365018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -544.9529879061552, + -151.89072292870281, + -1.960940922365018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -543.4529879061552, + -154.48879914005613, + -1.960940922365018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -541.9529879061552, + -157.08687535140945, + -1.960940922365018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -540.4529879061552, + -159.68495156276276, + -1.960940922365018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -538.9529879061552, + -162.28302777411608, + -1.960940922365018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -537.4529879061552, + -164.8811039854694, + -1.960940922365018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -535.9529879061552, + -167.4791801968227, + -1.960940922365018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -534.4529879061552, + -170.07725640817603, + -1.960940922365018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -532.9529879061552, + -172.67533261952934, + -1.960940922365018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -531.4529879061552, + -175.27340883088266, + -1.960940922365018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -529.9529879061552, + -177.87148504223597, + -1.960940922365018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -528.4529879061552, + -180.4695612535893, + -1.960940922365018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -526.9529879061552, + -183.0676374649426, + -1.960940922365018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -525.4529879061552, + -185.66571367629592, + -1.960940922365018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -523.9529879061552, + -188.26378988764924, + -1.960940922365018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -522.4529879061552, + -190.86186609900255, + -1.960940922365018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -520.9529879061552, + -193.45994231035587, + -1.960940922365018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -519.4529879061552, + -196.0580185217092, + -1.960940922365018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -517.9529879061552, + -198.6560947330625, + -1.960940922365018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -516.4529879061552, + -201.25417094441582, + -1.960940922365018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -514.9529879061552, + -203.85224715576913, + -1.960940922365018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -513.4529879061552, + -206.45032336712245, + -1.960940922365018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -511.95298790615516, + -209.04839957847577, + -1.960940922365018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -510.45298790615516, + -211.64647578982908, + -1.960940922365018 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -510.45298790615516, + -211.64647578982908, + -1.960940922365018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -510.45298790615516, + -214.64647578982908, + -1.960940922365018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -510.45298790615516, + -217.64647578982908, + -1.960940922365018 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -510.5901588439941, + -220.83477218627928, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-31_22-59-4_1789376348/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_22-59-4_1789376348/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b9939f10eaa762eb2ac56df5f43670ef194686d5 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_22-59-4_1789376348/pose.jsonl @@ -0,0 +1,495 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -846.2517470906204, + 112.40340069071848, + 2.7187151438572403 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -846.2517470906204, + 109.40340069071848, + 2.7187151438572403 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -846.2517470906204, + 106.40340069071848, + 2.7187151438572403 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -846.2517470906204, + 103.40340069071848, + 2.7187151438572403 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -846.2517470906204, + 100.40340069071848, + 2.7187151438572403 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -846.2517470906204, + 97.40340069071848, + 2.7187151438572403 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -846.2517470906204, + 94.40340069071848, + 2.7187151438572403 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -846.2517470906204, + 91.40340069071848, + 2.7187151438572403 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -846.2517470906204, + 88.40340069071848, + 2.7187151438572403 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -846.2517470906204, + 85.40340069071848, + 2.7187151438572403 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -846.2517470906204, + 82.40340069071848, + 2.7187151438572403 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -846.2517470906204, + 79.40340069071848, + 2.7187151438572403 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -846.2517470906204, + 76.40340069071848, + 2.7187151438572403 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -846.2517470906204, + 73.40340069071848, + 2.7187151438572403 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -846.2517470906204, + 70.40340069071848, + 2.7187151438572403 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -846.2517470906204, + 67.40340069071848, + 2.7187151438572403 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -846.2517470906204, + 64.40340069071848, + 2.7187151438572403 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -846.2517470906204, + 61.403400690718485, + 2.7187151438572403 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -846.2517470906204, + 58.403400690718485, + 2.7187151438572403 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -846.2517470906204, + 55.403400690718485, + 2.7187151438572403 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -846.2517470906204, + 52.403400690718485, + 2.7187151438572403 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -846.2517470906204, + 49.403400690718485, + 2.7187151438572403 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -846.2517470906204, + 46.403400690718485, + 2.7187151438572403 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -846.2517470906204, + 43.403400690718485, + 2.7187151438572403 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -846.2517470906204, + 40.403400690718485, + 2.7187151438572403 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -846.2517470906204, + 37.403400690718485, + 2.7187151438572403 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -846.2517470906204, + 34.403400690718485, + 2.7187151438572403 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -846.2517470906204, + 31.403400690718485, + 2.7187151438572403 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -846.2517470906204, + 28.403400690718485, + 2.7187151438572403 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -846.2517470906204, + 25.403400690718485, + 2.7187151438572403 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -846.2517470906204, + 22.403400690718485, + 2.7187151438572403 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -846.2517470906204, + 22.403400690718485, + 2.7187151438572403 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -846.2517470906204, + 22.403400690718485, + 2.7187151438572403 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -843.6536708792671, + 20.903400690718485, + 2.7187151438572403 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -841.0555946679137, + 19.403400690718485, + 2.7187151438572403 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -838.4575184565604, + 17.903400690718485, + 2.7187151438572403 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -835.859442245207, + 16.403400690718485, + 2.7187151438572403 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -834.8437512207031, + 12.72820457458496, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-31_23-10-30_7684930/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_23-10-30_7684930/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ecd63e1011322a6865792d3a38c04a990159d3c4 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_23-10-30_7684930/pose.jsonl @@ -0,0 +1,508 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -249.51264542180206, + 96.93346414014896, + -2.7254871737682436 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -249.51264542180206, + 93.93346414014896, + -2.7254871737682436 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -249.51264542180206, + 90.93346414014896, + -2.7254871737682436 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -249.51264542180206, + 87.93346414014896, + -2.7254871737682436 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -249.51264542180206, + 84.93346414014896, + -2.7254871737682436 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -249.51264542180206, + 81.93346414014896, + -2.7254871737682436 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -249.51264542180206, + 78.93346414014896, + -2.7254871737682436 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -249.51264542180206, + 75.93346414014896, + -2.7254871737682436 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -249.51264542180206, + 72.93346414014896, + -2.7254871737682436 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -249.51264542180206, + 69.93346414014896, + -2.7254871737682436 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -249.51264542180206, + 66.93346414014896, + -2.7254871737682436 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -249.51264542180206, + 63.933464140148956, + -2.7254871737682436 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -249.51264542180206, + 60.933464140148956, + -2.7254871737682436 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -249.51264542180206, + 57.933464140148956, + -2.7254871737682436 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -249.51264542180206, + 54.933464140148956, + -2.7254871737682436 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -249.51264542180206, + 51.933464140148956, + -2.7254871737682436 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -249.51264542180206, + 48.933464140148956, + -2.7254871737682436 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -249.51264542180206, + 45.933464140148956, + -2.7254871737682436 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -249.51264542180206, + 42.933464140148956, + -2.7254871737682436 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -249.51264542180206, + 39.933464140148956, + -2.7254871737682436 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -249.51264542180206, + 36.933464140148956, + -2.7254871737682436 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -249.51264542180206, + 33.933464140148956, + -2.7254871737682436 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -249.51264542180206, + 30.933464140148956, + -2.7254871737682436 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -249.51264542180206, + 27.933464140148956, + -2.7254871737682436 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -249.51264542180206, + 24.933464140148956, + -2.7254871737682436 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -249.51264542180206, + 21.933464140148956, + -2.7254871737682436 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -249.51264542180206, + 18.933464140148956, + -2.7254871737682436 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -249.51264542180206, + 15.933464140148956, + -2.7254871737682436 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -249.51264542180206, + 12.933464140148956, + -2.7254871737682436 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -249.51264542180206, + 9.933464140148956, + -2.7254871737682436 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -249.51264542180206, + 6.933464140148956, + -2.7254871737682436 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -249.51264542180206, + 6.933464140148956, + -2.7254871737682436 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -248.01264542180206, + 4.33538792879564, + -2.7254871737682436 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -246.51264542180206, + 1.7373117174423243, + -2.7254871737682436 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -245.01264542180206, + -0.8607644939109917, + -2.7254871737682436 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -243.51264542180206, + -3.4588407052643078, + -2.7254871737682436 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -242.01264542180206, + -6.056916916617624, + -2.7254871737682436 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -240.51264542180206, + -8.65499312797094, + -2.7254871737682436 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -242.29689208984374, + -10.230338129997254, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-31_23-10-48_1776808933/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_23-10-48_1776808933/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6433aa016bfb0d5f322d55ae1c213892dab8b984 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_23-10-48_1776808933/pose.jsonl @@ -0,0 +1,404 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -566.0285393410549, + -156.34848069625878, + 2.8992803891085694 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -564.5285393410549, + -158.9465569076121, + 2.8992803891085694 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -563.0285393410549, + -161.5446331189654, + 2.8992803891085694 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -561.5285393410549, + -164.14270933031872, + 2.8992803891085694 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -560.0285393410549, + -166.74078554167204, + 2.8992803891085694 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -558.5285393410549, + -169.33886175302536, + 2.8992803891085694 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -557.0285393410549, + -171.93693796437867, + 2.8992803891085694 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -555.5285393410549, + -174.535014175732, + 2.8992803891085694 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -554.0285393410549, + -177.1330903870853, + 2.8992803891085694 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -552.5285393410549, + -179.73116659843862, + 2.8992803891085694 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -551.0285393410549, + -182.32924280979194, + 2.8992803891085694 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -549.5285393410549, + -184.92731902114525, + 2.8992803891085694 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -548.0285393410549, + -187.52539523249857, + 2.8992803891085694 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -546.5285393410549, + -190.12347144385188, + 2.8992803891085694 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -545.0285393410549, + -192.7215476552052, + 2.8992803891085694 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -543.5285393410549, + -195.31962386655852, + 2.8992803891085694 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -542.0285393410549, + -197.91770007791183, + 2.8992803891085694 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -540.5285393410549, + -200.51577628926515, + 2.8992803891085694 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -539.0285393410549, + -203.11385250061846, + 2.8992803891085694 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -537.5285393410549, + -205.71192871197178, + 2.8992803891085694 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -537.5285393410549, + -205.71192871197178, + 2.8992803891085694 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -534.9304631297016, + -207.21192871197178, + 2.8992803891085694 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -532.3323869183482, + -208.71192871197178, + 2.8992803891085694 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -529.7343107069948, + -210.21192871197178, + 2.8992803891085694 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -527.1362344956415, + -211.71192871197178, + 2.8992803891085694 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -524.5381582842881, + -213.21192871197178, + 2.8992803891085694 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -521.9400820729347, + -214.71192871197178, + 2.8992803891085694 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -519.3420058615814, + -216.21192871197178, + 2.8992803891085694 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -516.743929650228, + -217.71192871197178, + 2.8992803891085694 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -514.1458534388746, + -219.21192871197178, + 2.8992803891085694 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -510.5901588439941, + -220.83477218627928, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-31_23-14-51_1704365084/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_23-14-51_1704365084/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4a9ec267ac16066e2968e4a0882447a891594f40 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_23-14-51_1704365084/pose.jsonl @@ -0,0 +1,404 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 251.97542780176525, + 609.5671517269102, + 1.1904168600314415 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 253.47542780176525, + 612.1652279382636, + 1.1904168600314415 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 254.97542780176525, + 614.7633041496169, + 1.1904168600314415 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 256.47542780176525, + 617.3613803609703, + 1.1904168600314415 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 257.97542780176525, + 619.9594565723237, + 1.1904168600314415 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 259.47542780176525, + 622.5575327836771, + 1.1904168600314415 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 260.97542780176525, + 625.1556089950304, + 1.1904168600314415 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 262.47542780176525, + 627.7536852063838, + 1.1904168600314415 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 263.97542780176525, + 630.3517614177372, + 1.1904168600314415 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 265.47542780176525, + 632.9498376290906, + 1.1904168600314415 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 266.97542780176525, + 635.5479138404439, + 1.1904168600314415 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 268.47542780176525, + 638.1459900517973, + 1.1904168600314415 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 269.97542780176525, + 640.7440662631507, + 1.1904168600314415 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 271.47542780176525, + 643.342142474504, + 1.1904168600314415 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 271.47542780176525, + 643.342142474504, + 1.1904168600314415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 274.07350401311857, + 644.842142474504, + 1.1904168600314415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 276.6715802244719, + 646.342142474504, + 1.1904168600314415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 279.2696564358252, + 647.842142474504, + 1.1904168600314415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 281.8677326471785, + 649.342142474504, + 1.1904168600314415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 284.46580885853183, + 650.842142474504, + 1.1904168600314415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 287.06388506988515, + 652.342142474504, + 1.1904168600314415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 289.66196128123846, + 653.842142474504, + 1.1904168600314415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 292.2600374925918, + 655.342142474504, + 1.1904168600314415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 294.8581137039451, + 656.842142474504, + 1.1904168600314415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 297.4561899152984, + 658.342142474504, + 1.1904168600314415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 300.0542661266517, + 659.842142474504, + 1.1904168600314415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 302.65234233800504, + 661.342142474504, + 1.1904168600314415 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 302.65234233800504, + 661.342142474504, + 1.1904168600314415 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 304.15234233800504, + 663.9402186858574, + 1.1904168600314415 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 305.65234233800504, + 666.5382948972108, + 1.1904168600314415 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 307.503537902832, + 668.8986363220215, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-31_23-24-41_1065311705/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_23-24-41_1065311705/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..312647d1d938959af7fc89edbf7322f565d22265 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_23-24-41_1065311705/pose.jsonl @@ -0,0 +1,300 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -301.6953644197789, + -339.2733031454542, + 1.7018386032121597 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -304.2934406311322, + -340.7733031454542, + 1.7018386032121597 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -306.89151684248554, + -342.2733031454542, + 1.7018386032121597 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -309.48959305383886, + -343.7733031454542, + 1.7018386032121597 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -312.0876692651922, + -345.2733031454542, + 1.7018386032121597 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -314.6857454765455, + -346.7733031454542, + 1.7018386032121597 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -317.2838216878988, + -348.2733031454542, + 1.7018386032121597 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -319.8818978992521, + -349.7733031454542, + 1.7018386032121597 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -322.47997411060544, + -351.2733031454542, + 1.7018386032121597 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -325.07805032195876, + -352.7733031454542, + 1.7018386032121597 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -327.6761265333121, + -354.2733031454542, + 1.7018386032121597 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -330.2742027446654, + -355.7733031454542, + 1.7018386032121597 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -332.8722789560187, + -357.2733031454542, + 1.7018386032121597 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -335.470355167372, + -358.7733031454542, + 1.7018386032121597 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -338.06843137872534, + -360.2733031454542, + 1.7018386032121597 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -340.66650759007865, + -361.7733031454542, + 1.7018386032121597 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -343.26458380143197, + -363.2733031454542, + 1.7018386032121597 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -343.26458380143197, + -363.2733031454542, + 1.7018386032121597 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -344.76458380143197, + -365.8713793568075, + 1.7018386032121597 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -346.26458380143197, + -368.4694555681608, + 1.7018386032121597 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -347.76458380143197, + -371.0675317795141, + 1.7018386032121597 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -349.26458380143197, + -373.66560799086744, + 1.7018386032121597 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -348.85303680419923, + -377.0924723815918, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-31_23-24-54_719346228/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_23-24-54_719346228/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8d9f49bf3ba842c0219043b8e0b87165af03d98c --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_23-24-54_719346228/pose.jsonl @@ -0,0 +1,508 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -730.4516518738372, + -13.500961600169884, + 2.263626762582227 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -733.4516518738372, + -13.500961600169884, + 2.263626762582227 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -736.4516518738372, + -13.500961600169884, + 2.263626762582227 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -739.4516518738372, + -13.500961600169884, + 2.263626762582227 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -742.4516518738372, + -13.500961600169884, + 2.263626762582227 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -745.4516518738372, + -13.500961600169884, + 2.263626762582227 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -748.4516518738372, + -13.500961600169884, + 2.263626762582227 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -751.4516518738372, + -13.500961600169884, + 2.263626762582227 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -754.4516518738372, + -13.500961600169884, + 2.263626762582227 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -757.4516518738372, + -13.500961600169884, + 2.263626762582227 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -760.4516518738372, + -13.500961600169884, + 2.263626762582227 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -763.4516518738372, + -13.500961600169884, + 2.263626762582227 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -766.4516518738372, + -13.500961600169884, + 2.263626762582227 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -769.4516518738372, + -13.500961600169884, + 2.263626762582227 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -772.4516518738372, + -13.500961600169884, + 2.263626762582227 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -775.4516518738372, + -13.500961600169884, + 2.263626762582227 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -778.4516518738372, + -13.500961600169884, + 2.263626762582227 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -781.4516518738372, + -13.500961600169884, + 2.263626762582227 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -784.4516518738372, + -13.500961600169884, + 2.263626762582227 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -784.4516518738372, + -13.500961600169884, + 2.263626762582227 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -787.0497280851905, + -12.000961600169884, + 2.263626762582227 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -789.6478042965439, + -10.500961600169884, + 2.263626762582227 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -792.2458805078973, + -9.000961600169884, + 2.263626762582227 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -794.8439567192506, + -7.500961600169884, + 2.263626762582227 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -797.442032930604, + -6.000961600169884, + 2.263626762582227 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -800.0401091419574, + -4.500961600169884, + 2.263626762582227 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -802.6381853533107, + -3.000961600169884, + 2.263626762582227 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -805.2362615646641, + -1.500961600169884, + 2.263626762582227 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -807.8343377760175, + -0.0009616001698842247, + 2.263626762582227 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -810.4324139873709, + 1.4990383998301156, + 2.263626762582227 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -813.0304901987242, + 2.9990383998301153, + 2.263626762582227 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -815.6285664100776, + 4.499038399830115, + 2.263626762582227 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -818.226642621431, + 5.999038399830115, + 2.263626762582227 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -820.8247188327844, + 7.499038399830115, + 2.263626762582227 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -823.4227950441377, + 8.999038399830114, + 2.263626762582227 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991504 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -826.0208712554911, + 10.499038399830114, + 2.263626762582227 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -828.6189474668445, + 11.999038399830114, + 2.263626762582227 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -831.2170236781978, + 13.499038399830114, + 2.263626762582227 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -834.8437512207031, + 12.72820457458496, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-31_23-26-39_155789224/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_23-26-39_155789224/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c046ce7889d2b49764219786d1f6da06d5315711 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_23-26-39_155789224/pose.jsonl @@ -0,0 +1,469 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -603.4167246517874, + 351.11751819525034, + 4.481863396395116 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -604.9167246517874, + 348.519441983897, + 4.481863396395116 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -606.4167246517874, + 345.9213657725437, + 4.481863396395116 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -607.9167246517874, + 343.3232895611904, + 4.481863396395116 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -609.4167246517874, + 340.7252133498371, + 4.481863396395116 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -610.9167246517874, + 338.12713713848376, + 4.481863396395116 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -612.4167246517874, + 335.52906092713044, + 4.481863396395116 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -613.9167246517874, + 332.93098471577713, + 4.481863396395116 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -615.4167246517874, + 330.3329085044238, + 4.481863396395116 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -616.9167246517874, + 327.7348322930705, + 4.481863396395116 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -618.4167246517874, + 325.1367560817172, + 4.481863396395116 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -619.9167246517874, + 322.53867987036386, + 4.481863396395116 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -621.4167246517874, + 319.94060365901055, + 4.481863396395116 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -622.9167246517874, + 317.34252744765723, + 4.481863396395116 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -624.4167246517874, + 314.7444512363039, + 4.481863396395116 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -625.9167246517874, + 312.1463750249506, + 4.481863396395116 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -627.4167246517874, + 309.5482988135973, + 4.481863396395116 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -628.9167246517874, + 306.95022260224397, + 4.481863396395116 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -630.4167246517874, + 304.35214639089065, + 4.481863396395116 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -631.9167246517874, + 301.75407017953734, + 4.481863396395116 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -633.4167246517874, + 299.155993968184, + 4.481863396395116 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -634.9167246517874, + 296.5579177568307, + 4.481863396395116 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -634.9167246517874, + 296.5579177568307, + 4.481863396395116 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -637.5148008631406, + 295.0579177568307, + 4.481863396395116 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -640.112877074494, + 293.5579177568307, + 4.481863396395116 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -642.7109532858474, + 292.0579177568307, + 4.481863396395116 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -645.3090294972008, + 290.5579177568307, + 4.481863396395116 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -647.9071057085541, + 289.0579177568307, + 4.481863396395116 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -650.5051819199075, + 287.5579177568307, + 4.481863396395116 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -653.1032581312609, + 286.0579177568307, + 4.481863396395116 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -655.7013343426142, + 284.5579177568307, + 4.481863396395116 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -658.2994105539676, + 283.0579177568307, + 4.481863396395116 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -660.897486765321, + 281.5579177568307, + 4.481863396395116 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -663.4955629766744, + 280.0579177568307, + 4.481863396395116 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -666.0936391880277, + 278.5579177568307, + 4.481863396395116 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -669.1686190795898, + 276.07490257263186, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-31_23-28-34_917679292/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_23-28-34_917679292/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7991b5d94bdd640691e33b88a69acadea6abd913 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_23-28-34_917679292/pose.jsonl @@ -0,0 +1,469 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -714.5450185114447, + 103.33178200118121, + 2.6294058493331063 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -711.9469423000915, + 101.83178200118121, + 2.6294058493331063 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -709.3488660887381, + 100.33178200118121, + 2.6294058493331063 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -706.7507898773847, + 98.83178200118121, + 2.6294058493331063 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -704.1527136660313, + 97.33178200118121, + 2.6294058493331063 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -701.554637454678, + 95.83178200118121, + 2.6294058493331063 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -698.9565612433246, + 94.33178200118121, + 2.6294058493331063 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -696.3584850319712, + 92.83178200118121, + 2.6294058493331063 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -693.7604088206178, + 91.33178200118121, + 2.6294058493331063 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -691.1623326092645, + 89.83178200118121, + 2.6294058493331063 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -688.5642563979111, + 88.33178200118121, + 2.6294058493331063 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -685.9661801865577, + 86.83178200118121, + 2.6294058493331063 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -683.3681039752043, + 85.33178200118121, + 2.6294058493331063 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -680.770027763851, + 83.83178200118121, + 2.6294058493331063 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -678.1719515524976, + 82.33178200118121, + 2.6294058493331063 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -675.5738753411442, + 80.83178200118121, + 2.6294058493331063 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -672.9757991297909, + 79.33178200118121, + 2.6294058493331063 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -670.3777229184375, + 77.83178200118121, + 2.6294058493331063 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -667.7796467070841, + 76.33178200118121, + 2.6294058493331063 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -665.1815704957307, + 74.83178200118121, + 2.6294058493331063 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -662.5834942843774, + 73.33178200118121, + 2.6294058493331063 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -659.985418073024, + 71.83178200118121, + 2.6294058493331063 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -657.3873418616706, + 70.33178200118121, + 2.6294058493331063 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -654.7892656503172, + 68.83178200118121, + 2.6294058493331063 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -652.1911894389639, + 67.33178200118121, + 2.6294058493331063 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -649.5931132276105, + 65.83178200118121, + 2.6294058493331063 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -646.9950370162571, + 64.33178200118121, + 2.6294058493331063 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -644.3969608049038, + 62.83178200118121, + 2.6294058493331063 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -641.7988845935504, + 61.33178200118121, + 2.6294058493331063 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -639.200808382197, + 59.83178200118121, + 2.6294058493331063 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -636.6027321708436, + 58.33178200118121, + 2.6294058493331063 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -636.6027321708436, + 58.33178200118121, + 2.6294058493331063 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -635.1027321708436, + 55.733705789827894, + 2.6294058493331063 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -633.6027321708436, + 53.13562957847458, + 2.6294058493331063 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -632.1027321708436, + 50.53755336712126, + 2.6294058493331063 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -629.9300636291504, + 48.19314208984375, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-31_23-29-18_570073850/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_23-29-18_570073850/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..48e30c9100917b238806a8cc188e2502f03f5e0d --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_23-29-18_570073850/pose.jsonl @@ -0,0 +1,495 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -913.2206649869955, + -10.220610100079025, + 0.8770084958138948 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -910.2206649869955, + -10.220610100079025, + 0.8770084958138948 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -907.2206649869955, + -10.220610100079025, + 0.8770084958138948 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -904.2206649869955, + -10.220610100079025, + 0.8770084958138948 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -901.2206649869955, + -10.220610100079025, + 0.8770084958138948 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -898.2206649869955, + -10.220610100079025, + 0.8770084958138948 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -895.2206649869955, + -10.220610100079025, + 0.8770084958138948 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -892.2206649869955, + -10.220610100079025, + 0.8770084958138948 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -889.2206649869955, + -10.220610100079025, + 0.8770084958138948 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -886.2206649869955, + -10.220610100079025, + 0.8770084958138948 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -883.2206649869955, + -10.220610100079025, + 0.8770084958138948 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -880.2206649869955, + -10.220610100079025, + 0.8770084958138948 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -877.2206649869955, + -10.220610100079025, + 0.8770084958138948 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -874.2206649869955, + -10.220610100079025, + 0.8770084958138948 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -871.2206649869955, + -10.220610100079025, + 0.8770084958138948 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -868.2206649869955, + -10.220610100079025, + 0.8770084958138948 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -865.2206649869955, + -10.220610100079025, + 0.8770084958138948 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -862.2206649869955, + -10.220610100079025, + 0.8770084958138948 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -859.2206649869955, + -10.220610100079025, + 0.8770084958138948 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -856.2206649869955, + -10.220610100079025, + 0.8770084958138948 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -853.2206649869955, + -10.220610100079025, + 0.8770084958138948 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -850.2206649869955, + -10.220610100079025, + 0.8770084958138948 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -847.2206649869955, + -10.220610100079025, + 0.8770084958138948 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -844.2206649869955, + -10.220610100079025, + 0.8770084958138948 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -841.2206649869955, + -10.220610100079025, + 0.8770084958138948 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -838.2206649869955, + -10.220610100079025, + 0.8770084958138948 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -838.2206649869955, + -10.220610100079025, + 0.8770084958138948 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -838.2206649869955, + -10.220610100079025, + 0.8770084958138948 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -836.7206649869955, + -7.622533888725709, + 0.8770084958138948 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -835.2206649869955, + -5.024457677372393, + 0.8770084958138948 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -833.7206649869955, + -2.426381466019077, + 0.8770084958138948 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -832.2206649869955, + 0.17169474533423923, + 0.8770084958138948 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -830.7206649869955, + 2.7697709566875552, + 0.8770084958138948 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -829.2206649869955, + 5.367847168040871, + 0.8770084958138948 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -827.7206649869955, + 7.965923379394187, + 0.8770084958138948 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -826.2206649869955, + 10.563999590747503, + 0.8770084958138948 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -824.7206649869955, + 13.16207580210082, + 0.8770084958138948 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -821.0513497924804, + 12.496731524467467, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-31_23-36-15_630668850/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_23-36-15_630668850/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..34489016c60e2fc50f79a7bf1dd35b428f0dba43 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_23-36-15_630668850/pose.jsonl @@ -0,0 +1,482 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 79.17928687845992, + -361.24090127167926, + -1.3421649713248964 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 81.77736308981324, + -359.74090127167926, + -1.3421649713248964 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 84.37543930116655, + -358.24090127167926, + -1.3421649713248964 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 86.97351551251987, + -356.74090127167926, + -1.3421649713248964 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 89.57159172387318, + -355.24090127167926, + -1.3421649713248964 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 92.1696679352265, + -353.74090127167926, + -1.3421649713248964 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 94.76774414657982, + -352.24090127167926, + -1.3421649713248964 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 97.36582035793313, + -350.74090127167926, + -1.3421649713248964 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 99.96389656928645, + -349.24090127167926, + -1.3421649713248964 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 102.56197278063976, + -347.74090127167926, + -1.3421649713248964 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 105.16004899199308, + -346.24090127167926, + -1.3421649713248964 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 107.7581252033464, + -344.74090127167926, + -1.3421649713248964 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 110.35620141469971, + -343.24090127167926, + -1.3421649713248964 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 112.95427762605303, + -341.74090127167926, + -1.3421649713248964 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 115.55235383740634, + -340.24090127167926, + -1.3421649713248964 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 118.15043004875966, + -338.74090127167926, + -1.3421649713248964 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 120.74850626011298, + -337.24090127167926, + -1.3421649713248964 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 123.34658247146629, + -335.74090127167926, + -1.3421649713248964 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 125.94465868281961, + -334.24090127167926, + -1.3421649713248964 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 128.54273489417292, + -332.74090127167926, + -1.3421649713248964 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 131.14081110552624, + -331.24090127167926, + -1.3421649713248964 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 133.73888731687956, + -329.74090127167926, + -1.3421649713248964 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 136.33696352823287, + -328.24090127167926, + -1.3421649713248964 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 136.33696352823287, + -328.24090127167926, + -1.3421649713248964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 137.83696352823287, + -325.64282506032595, + -1.3421649713248964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 139.33696352823287, + -323.04474884897263, + -1.3421649713248964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 140.83696352823287, + -320.4466726376193, + -1.3421649713248964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 142.33696352823287, + -317.848596426266, + -1.3421649713248964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 143.83696352823287, + -315.2505202149127, + -1.3421649713248964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 145.33696352823287, + -312.65244400355937, + -1.3421649713248964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 146.83696352823287, + -310.05436779220605, + -1.3421649713248964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 148.33696352823287, + -307.45629158085274, + -1.3421649713248964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 149.83696352823287, + -304.8582153694994, + -1.3421649713248964 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 149.83696352823287, + -304.8582153694994, + -1.3421649713248964 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 152.4350397395862, + -303.3582153694994, + -1.3421649713248964 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 155.0331159509395, + -301.8582153694994, + -1.3421649713248964 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 156.50516716003418, + -301.9973617553711, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-31_23-42-23_1486222842/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_23-42-23_1486222842/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..45d10ca2d62f45f6a4cae43eb41b131e2e294461 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_23-42-23_1486222842/pose.jsonl @@ -0,0 +1,443 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -513.1151247443869, + -319.14439093716084, + -0.9903550193523998 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -513.1151247443869, + -316.14439093716084, + -0.9903550193523998 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -513.1151247443869, + -313.14439093716084, + -0.9903550193523998 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -513.1151247443869, + -310.14439093716084, + -0.9903550193523998 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -513.1151247443869, + -307.14439093716084, + -0.9903550193523998 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -513.1151247443869, + -304.14439093716084, + -0.9903550193523998 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -513.1151247443869, + -301.14439093716084, + -0.9903550193523998 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -513.1151247443869, + -298.14439093716084, + -0.9903550193523998 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -513.1151247443869, + -295.14439093716084, + -0.9903550193523998 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -513.1151247443869, + -292.14439093716084, + -0.9903550193523998 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -513.1151247443869, + -289.14439093716084, + -0.9903550193523998 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -513.1151247443869, + -286.14439093716084, + -0.9903550193523998 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -513.1151247443869, + -283.14439093716084, + -0.9903550193523998 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -513.1151247443869, + -280.14439093716084, + -0.9903550193523998 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -513.1151247443869, + -277.14439093716084, + -0.9903550193523998 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -513.1151247443869, + -274.14439093716084, + -0.9903550193523998 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -513.1151247443869, + -271.14439093716084, + -0.9903550193523998 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -513.1151247443869, + -268.14439093716084, + -0.9903550193523998 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -513.1151247443869, + -265.14439093716084, + -0.9903550193523998 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -513.1151247443869, + -262.14439093716084, + -0.9903550193523998 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -513.1151247443869, + -259.14439093716084, + -0.9903550193523998 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -513.1151247443869, + -256.14439093716084, + -0.9903550193523998 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -513.1151247443869, + -253.14439093716084, + -0.9903550193523998 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -513.1151247443869, + -250.14439093716084, + -0.9903550193523998 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -513.1151247443869, + -247.14439093716084, + -0.9903550193523998 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -513.1151247443869, + -244.14439093716084, + -0.9903550193523998 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -513.1151247443869, + -241.14439093716084, + -0.9903550193523998 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -513.1151247443869, + -238.14439093716084, + -0.9903550193523998 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -513.1151247443869, + -235.14439093716084, + -0.9903550193523998 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -513.1151247443869, + -232.14439093716084, + -0.9903550193523998 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -513.1151247443869, + -229.14439093716084, + -0.9903550193523998 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -513.1151247443869, + -226.14439093716084, + -0.9903550193523998 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -513.1151247443869, + -223.14439093716084, + -0.9903550193523998 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -510.5901588439941, + -220.83477218627928, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-31_23-44-59_1023457753/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_23-44-59_1023457753/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6036590cfe440397ab1053ea40cc14f5eda4fb25 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_23-44-59_1023457753/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 163.14683862934675, + 686.7913855240863, + -4.312432439423131 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 166.14683862934675, + 686.7913855240863, + -4.312432439423131 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 169.14683862934675, + 686.7913855240863, + -4.312432439423131 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 172.14683862934675, + 686.7913855240863, + -4.312432439423131 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 175.14683862934675, + 686.7913855240863, + -4.312432439423131 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 178.14683862934675, + 686.7913855240863, + -4.312432439423131 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 181.14683862934675, + 686.7913855240863, + -4.312432439423131 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 184.14683862934675, + 686.7913855240863, + -4.312432439423131 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 187.14683862934675, + 686.7913855240863, + -4.312432439423131 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 190.14683862934675, + 686.7913855240863, + -4.312432439423131 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 193.14683862934675, + 686.7913855240863, + -4.312432439423131 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 196.14683862934675, + 686.7913855240863, + -4.312432439423131 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 199.14683862934675, + 686.7913855240863, + -4.312432439423131 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 202.14683862934675, + 686.7913855240863, + -4.312432439423131 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 205.14683862934675, + 686.7913855240863, + -4.312432439423131 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 208.14683862934675, + 686.7913855240863, + -4.312432439423131 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 211.14683862934675, + 686.7913855240863, + -4.312432439423131 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 214.14683862934675, + 686.7913855240863, + -4.312432439423131 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 217.14683862934675, + 686.7913855240863, + -4.312432439423131 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 220.14683862934675, + 686.7913855240863, + -4.312432439423131 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 220.14683862934675, + 686.7913855240863, + -4.312432439423131 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 222.74491484070006, + 688.2913855240863, + -4.312432439423131 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 225.34299105205338, + 689.7913855240863, + -4.312432439423131 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 227.9410672634067, + 691.2913855240863, + -4.312432439423131 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 229.7172834777832, + 692.2608906555175, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-31_23-48-2_1034514500/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_23-48-2_1034514500/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..de8324ae911f9d7b147b7e1a8f747edfd63f5377 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_23-48-2_1034514500/pose.jsonl @@ -0,0 +1,547 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -715.0324378941467, + 406.6089555020756, + -0.5369729116331321 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -712.0324378941467, + 406.6089555020756, + -0.5369729116331321 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -709.0324378941467, + 406.6089555020756, + -0.5369729116331321 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -709.0324378941467, + 406.6089555020756, + -0.5369729116331321 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -709.0324378941467, + 406.6089555020756, + -0.5369729116331321 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -707.5324378941467, + 409.20703171342893, + -0.5369729116331321 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -706.0324378941467, + 411.80510792478225, + -0.5369729116331321 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -704.5324378941467, + 414.40318413613556, + -0.5369729116331321 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -703.0324378941467, + 417.0012603474889, + -0.5369729116331321 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -701.5324378941467, + 419.5993365588422, + -0.5369729116331321 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -700.0324378941467, + 422.1974127701955, + -0.5369729116331321 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -698.5324378941467, + 424.79548898154883, + -0.5369729116331321 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -697.0324378941467, + 427.39356519290214, + -0.5369729116331321 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -695.5324378941467, + 429.99164140425546, + -0.5369729116331321 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -694.0324378941467, + 432.5897176156088, + -0.5369729116331321 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -692.5324378941467, + 435.1877938269621, + -0.5369729116331321 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -691.0324378941467, + 437.7858700383154, + -0.5369729116331321 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -689.5324378941467, + 440.3839462496687, + -0.5369729116331321 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -688.0324378941467, + 442.98202246102204, + -0.5369729116331321 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -686.5324378941467, + 445.58009867237536, + -0.5369729116331321 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -685.0324378941467, + 448.1781748837287, + -0.5369729116331321 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -683.5324378941467, + 450.776251095082, + -0.5369729116331321 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -682.0324378941467, + 453.3743273064353, + -0.5369729116331321 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -680.5324378941467, + 455.9724035177886, + -0.5369729116331321 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -679.0324378941467, + 458.57047972914194, + -0.5369729116331321 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -679.0324378941467, + 458.57047972914194, + -0.5369729116331321 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -676.4343616827935, + 460.07047972914194, + -0.5369729116331321 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -673.8362854714401, + 461.57047972914194, + -0.5369729116331321 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -671.2382092600867, + 463.07047972914194, + -0.5369729116331321 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -668.6401330487333, + 464.57047972914194, + -0.5369729116331321 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -666.04205683738, + 466.07047972914194, + -0.5369729116331321 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -663.4439806260266, + 467.57047972914194, + -0.5369729116331321 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -660.8459044146732, + 469.07047972914194, + -0.5369729116331321 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -658.2478282033198, + 470.57047972914194, + -0.5369729116331321 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -655.6497519919665, + 472.07047972914194, + -0.5369729116331321 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -653.0516757806131, + 473.57047972914194, + -0.5369729116331321 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -650.4535995692597, + 475.07047972914194, + -0.5369729116331321 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -647.8555233579063, + 476.57047972914194, + -0.5369729116331321 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -645.257447146553, + 478.07047972914194, + -0.5369729116331321 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -642.6593709351996, + 479.57047972914194, + -0.5369729116331321 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -640.0612947238462, + 481.07047972914194, + -0.5369729116331321 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -639.5100476074218, + 482.8642652893066, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-1_12-13-21_1681692777/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-1_12-13-21_1681692777/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ca6514de221e3840f68aa414477e6c6dbeac9aea --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-1_12-13-21_1681692777/pose.jsonl @@ -0,0 +1,391 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -886.4101593429106, + 430.81426620660284, + 0.5265412008202484 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -889.0082355542638, + 429.31426620660284, + 0.5265412008202484 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -891.6063117656172, + 427.81426620660284, + 0.5265412008202484 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -894.2043879769706, + 426.31426620660284, + 0.5265412008202484 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -896.8024641883239, + 424.81426620660284, + 0.5265412008202484 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -899.4005403996773, + 423.31426620660284, + 0.5265412008202484 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -901.9986166110307, + 421.81426620660284, + 0.5265412008202484 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -904.5966928223841, + 420.31426620660284, + 0.5265412008202484 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -907.1947690337374, + 418.81426620660284, + 0.5265412008202484 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -909.7928452450908, + 417.31426620660284, + 0.5265412008202484 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -912.3909214564442, + 415.81426620660284, + 0.5265412008202484 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -914.9889976677975, + 414.31426620660284, + 0.5265412008202484 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -917.5870738791509, + 412.81426620660284, + 0.5265412008202484 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -920.1851500905043, + 411.31426620660284, + 0.5265412008202484 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -922.7832263018577, + 409.81426620660284, + 0.5265412008202484 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -925.381302513211, + 408.31426620660284, + 0.5265412008202484 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -927.9793787245644, + 406.81426620660284, + 0.5265412008202484 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -930.5774549359178, + 405.31426620660284, + 0.5265412008202484 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -933.1755311472712, + 403.81426620660284, + 0.5265412008202484 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -935.7736073586245, + 402.31426620660284, + 0.5265412008202484 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -938.3716835699779, + 400.81426620660284, + 0.5265412008202484 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -938.3716835699779, + 400.81426620660284, + 0.5265412008202484 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -939.8716835699779, + 398.2161899952495, + 0.5265412008202484 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -941.3716835699779, + 395.6181137838962, + 0.5265412008202484 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -942.8716835699779, + 393.0200375725429, + 0.5265412008202484 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -944.3716835699779, + 390.4219613611896, + 0.5265412008202484 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -945.8716835699779, + 387.82388514983626, + 0.5265412008202484 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -947.3716835699779, + 385.22580893848294, + 0.5265412008202484 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -948.8716835699779, + 382.6277327271296, + 0.5265412008202484 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -979.8297436523437, + 358.6925830078125, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_17-39-56_846942590/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_17-39-56_846942590/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..70938b1b25da52392ec88f1b11184549e0d36cf2 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_17-39-56_846942590/pose.jsonl @@ -0,0 +1,495 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -640.5136575708742, + -17.001558368596108, + 3.2466579716410493 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -640.5136575708742, + -14.001558368596108, + 3.2466579716410493 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -640.5136575708742, + -11.001558368596108, + 3.2466579716410493 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -640.5136575708742, + -8.001558368596108, + 3.2466579716410493 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -640.5136575708742, + -5.001558368596108, + 3.2466579716410493 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -640.5136575708742, + -2.0015583685961076, + 3.2466579716410493 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -640.5136575708742, + 0.9984416314038924, + 3.2466579716410493 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -640.5136575708742, + 3.9984416314038924, + 3.2466579716410493 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -640.5136575708742, + 6.998441631403892, + 3.2466579716410493 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -640.5136575708742, + 9.998441631403892, + 3.2466579716410493 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -640.5136575708742, + 12.998441631403892, + 3.2466579716410493 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -640.5136575708742, + 15.998441631403892, + 3.2466579716410493 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -640.5136575708742, + 18.998441631403892, + 3.2466579716410493 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -640.5136575708742, + 21.998441631403892, + 3.2466579716410493 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -640.5136575708742, + 24.998441631403892, + 3.2466579716410493 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -640.5136575708742, + 27.998441631403892, + 3.2466579716410493 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -640.5136575708742, + 30.998441631403892, + 3.2466579716410493 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -640.5136575708742, + 33.99844163140389, + 3.2466579716410493 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -640.5136575708742, + 36.99844163140389, + 3.2466579716410493 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -640.5136575708742, + 39.99844163140389, + 3.2466579716410493 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -640.5136575708742, + 42.99844163140389, + 3.2466579716410493 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -640.5136575708742, + 45.99844163140389, + 3.2466579716410493 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -640.5136575708742, + 48.99844163140389, + 3.2466579716410493 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -640.5136575708742, + 51.99844163140389, + 3.2466579716410493 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -640.5136575708742, + 54.99844163140389, + 3.2466579716410493 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -640.5136575708742, + 57.99844163140389, + 3.2466579716410493 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -640.5136575708742, + 60.99844163140389, + 3.2466579716410493 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -640.5136575708742, + 63.99844163140389, + 3.2466579716410493 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -640.5136575708742, + 63.99844163140389, + 3.2466579716410493 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -642.0136575708742, + 66.59651784275721, + 3.2466579716410493 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -643.5136575708742, + 69.19459405411052, + 3.2466579716410493 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -645.0136575708742, + 71.79267026546384, + 3.2466579716410493 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -646.5136575708742, + 74.39074647681716, + 3.2466579716410493 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -646.5136575708742, + 74.39074647681716, + 3.2466579716410493 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -649.1117337822275, + 75.89074647681716, + 3.2466579716410493 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -651.7098099935808, + 77.39074647681716, + 3.2466579716410493 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -654.3078862049342, + 78.89074647681716, + 3.2466579716410493 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -655.7620668029786, + 80.36062210083007, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_17-43-21_1662981776/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_17-43-21_1662981776/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fe06eb0caabbd7f1735ac29c3bd6c1d69d183a13 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_17-43-21_1662981776/pose.jsonl @@ -0,0 +1,547 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -97.10101462602569, + -386.09580003309594, + -3.700751793992705 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -98.60101462602569, + -388.69387624444926, + -3.700751793992705 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -100.10101462602569, + -391.2919524558026, + -3.700751793992705 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -101.60101462602569, + -393.8900286671559, + -3.700751793992705 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -103.10101462602569, + -396.4881048785092, + -3.700751793992705 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -104.60101462602569, + -399.0861810898625, + -3.700751793992705 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -106.10101462602569, + -401.68425730121584, + -3.700751793992705 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -107.60101462602569, + -404.28233351256915, + -3.700751793992705 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -109.10101462602569, + -406.88040972392247, + -3.700751793992705 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -110.60101462602569, + -409.4784859352758, + -3.700751793992705 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -112.10101462602569, + -412.0765621466291, + -3.700751793992705 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -113.60101462602569, + -414.6746383579824, + -3.700751793992705 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -115.10101462602569, + -417.27271456933573, + -3.700751793992705 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -116.60101462602569, + -419.87079078068905, + -3.700751793992705 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -118.10101462602569, + -422.46886699204236, + -3.700751793992705 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -119.60101462602569, + -425.0669432033957, + -3.700751793992705 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -121.10101462602569, + -427.665019414749, + -3.700751793992705 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -122.60101462602569, + -430.2630956261023, + -3.700751793992705 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -124.10101462602569, + -432.86117183745563, + -3.700751793992705 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -124.10101462602569, + -432.86117183745563, + -3.700751793992705 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -126.699090837379, + -434.36117183745563, + -3.700751793992705 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -129.29716704873232, + -435.86117183745563, + -3.700751793992705 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -131.89524326008564, + -437.36117183745563, + -3.700751793992705 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -134.49331947143895, + -438.86117183745563, + -3.700751793992705 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -137.09139568279227, + -440.36117183745563, + -3.700751793992705 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -139.68947189414558, + -441.86117183745563, + -3.700751793992705 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -142.2875481054989, + -443.36117183745563, + -3.700751793992705 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -144.88562431685222, + -444.86117183745563, + -3.700751793992705 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -147.48370052820553, + -446.36117183745563, + -3.700751793992705 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -150.08177673955885, + -447.86117183745563, + -3.700751793992705 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -152.67985295091216, + -449.36117183745563, + -3.700751793992705 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -155.27792916226548, + -450.86117183745563, + -3.700751793992705 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -157.8760053736188, + -452.36117183745563, + -3.700751793992705 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -160.4740815849721, + -453.86117183745563, + -3.700751793992705 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -163.07215779632543, + -455.36117183745563, + -3.700751793992705 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -165.67023400767874, + -456.86117183745563, + -3.700751793992705 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -168.26831021903206, + -458.36117183745563, + -3.700751793992705 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -170.86638643038538, + -459.86117183745563, + -3.700751793992705 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -170.86638643038538, + -459.86117183745563, + -3.700751793992705 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -172.36638643038538, + -462.45924804880894, + -3.700751793992705 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -173.86638643038538, + -465.05732426016226, + -3.700751793992705 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -175.02334197998047, + -467.78616867065426, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_17-47-34_1411154259/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_17-47-34_1411154259/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bcbfd21ed875ebe6d21efb419f86bc83f6803b16 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_17-47-34_1411154259/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -371.78417483432196, + -348.5875757948595, + -2.5946301869663833 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -371.78417483432196, + -345.5875757948595, + -2.5946301869663833 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -371.78417483432196, + -342.5875757948595, + -2.5946301869663833 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -371.78417483432196, + -339.5875757948595, + -2.5946301869663833 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -371.78417483432196, + -336.5875757948595, + -2.5946301869663833 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -371.78417483432196, + -333.5875757948595, + -2.5946301869663833 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -371.78417483432196, + -330.5875757948595, + -2.5946301869663833 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -371.78417483432196, + -327.5875757948595, + -2.5946301869663833 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -371.78417483432196, + -324.5875757948595, + -2.5946301869663833 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -371.78417483432196, + -321.5875757948595, + -2.5946301869663833 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -371.78417483432196, + -318.5875757948595, + -2.5946301869663833 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -371.78417483432196, + -315.5875757948595, + -2.5946301869663833 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -371.78417483432196, + -315.5875757948595, + -2.5946301869663833 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -370.28417483432196, + -312.9894995835062, + -2.5946301869663833 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -368.78417483432196, + -310.3914233721529, + -2.5946301869663833 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -367.28417483432196, + -307.79334716079956, + -2.5946301869663833 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -365.78417483432196, + -305.19527094944624, + -2.5946301869663833 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -364.28417483432196, + -302.5971947380929, + -2.5946301869663833 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -362.78417483432196, + -299.9991185267396, + -2.5946301869663833 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -361.28417483432196, + -297.4010423153863, + -2.5946301869663833 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -359.78417483432196, + -294.802966104033, + -2.5946301869663833 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -358.28417483432196, + -292.20488989267966, + -2.5946301869663833 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -356.78417483432196, + -289.60681368132634, + -2.5946301869663833 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -357.95375900268556, + -286.8376789855957, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_17-48-8_282828202/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_17-48-8_282828202/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5817d0e2bdcc88286f422de06e760eed48ad3fe5 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_17-48-8_282828202/pose.jsonl @@ -0,0 +1,430 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -717.648828208315, + 25.84214564036066, + 0.9184660764916144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -714.648828208315, + 25.84214564036066, + 0.9184660764916144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -711.648828208315, + 25.84214564036066, + 0.9184660764916144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -708.648828208315, + 25.84214564036066, + 0.9184660764916144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -705.648828208315, + 25.84214564036066, + 0.9184660764916144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -702.648828208315, + 25.84214564036066, + 0.9184660764916144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -699.648828208315, + 25.84214564036066, + 0.9184660764916144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -696.648828208315, + 25.84214564036066, + 0.9184660764916144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -693.648828208315, + 25.84214564036066, + 0.9184660764916144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -690.648828208315, + 25.84214564036066, + 0.9184660764916144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -687.648828208315, + 25.84214564036066, + 0.9184660764916144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -684.648828208315, + 25.84214564036066, + 0.9184660764916144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -681.648828208315, + 25.84214564036066, + 0.9184660764916144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -678.648828208315, + 25.84214564036066, + 0.9184660764916144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -675.648828208315, + 25.84214564036066, + 0.9184660764916144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -672.648828208315, + 25.84214564036066, + 0.9184660764916144 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -672.648828208315, + 25.84214564036066, + 0.9184660764916144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -670.0507519969617, + 27.34214564036066, + 0.9184660764916144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -667.4526757856083, + 28.84214564036066, + 0.9184660764916144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -664.854599574255, + 30.34214564036066, + 0.9184660764916144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -662.2565233629016, + 31.84214564036066, + 0.9184660764916144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -659.6584471515482, + 33.342145640360656, + 0.9184660764916144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982884 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -657.0603709401948, + 34.842145640360656, + 0.9184660764916144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -654.4622947288415, + 36.342145640360656, + 0.9184660764916144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -651.8642185174881, + 37.842145640360656, + 0.9184660764916144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -649.2661423061347, + 39.342145640360656, + 0.9184660764916144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -646.6680660947814, + 40.842145640360656, + 0.9184660764916144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -644.069989883428, + 42.342145640360656, + 0.9184660764916144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -641.4719136720746, + 43.842145640360656, + 0.9184660764916144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -638.8738374607212, + 45.342145640360656, + 0.9184660764916144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -636.2757612493679, + 46.842145640360656, + 0.9184660764916144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -633.6776850380145, + 48.342145640360656, + 0.9184660764916144 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -629.9300636291504, + 48.19314208984375, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_17-54-18_212251746/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_17-54-18_212251746/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c5970709a3ff0d266360ba058f4c027072cb28d8 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_17-54-18_212251746/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -261.9219639387923, + -527.3999297175549, + 4.8612053161395945 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -261.9219639387923, + -524.3999297175549, + 4.8612053161395945 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -261.9219639387923, + -521.3999297175549, + 4.8612053161395945 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -261.9219639387923, + -518.3999297175549, + 4.8612053161395945 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -261.9219639387923, + -515.3999297175549, + 4.8612053161395945 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -261.9219639387923, + -512.3999297175549, + 4.8612053161395945 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -261.9219639387923, + -509.39992971755487, + 4.8612053161395945 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -261.9219639387923, + -506.39992971755487, + 4.8612053161395945 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -261.9219639387923, + -503.39992971755487, + 4.8612053161395945 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -261.9219639387923, + -500.39992971755487, + 4.8612053161395945 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -261.9219639387923, + -497.39992971755487, + 4.8612053161395945 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -261.9219639387923, + -494.39992971755487, + 4.8612053161395945 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -261.9219639387923, + -491.39992971755487, + 4.8612053161395945 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -261.9219639387923, + -488.39992971755487, + 4.8612053161395945 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -261.9219639387923, + -485.39992971755487, + 4.8612053161395945 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -261.9219639387923, + -482.39992971755487, + 4.8612053161395945 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -261.9219639387923, + -479.39992971755487, + 4.8612053161395945 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -261.9219639387923, + -476.39992971755487, + 4.8612053161395945 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -261.9219639387923, + -473.39992971755487, + 4.8612053161395945 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -261.9219639387923, + -470.39992971755487, + 4.8612053161395945 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -261.9219639387923, + -470.39992971755487, + 4.8612053161395945 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -261.9219639387923, + -470.39992971755487, + 4.8612053161395945 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -264.52004015014563, + -468.89992971755487, + 4.8612053161395945 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -267.11811636149895, + -467.39992971755487, + 4.8612053161395945 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -269.71619257285226, + -465.89992971755487, + 4.8612053161395945 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -270.6246540832519, + -464.87673126220704, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_17-55-50_624549797/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_17-55-50_624549797/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..09478b1c07b8a731185e8a2fa2c2cc729cada352 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_17-55-50_624549797/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 439.3598735601773, + 481.8224979657632, + 4.198064633804991 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 439.3598735601773, + 484.8224979657632, + 4.198064633804991 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 439.3598735601773, + 487.8224979657632, + 4.198064633804991 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 439.3598735601773, + 490.8224979657632, + 4.198064633804991 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 439.3598735601773, + 493.8224979657632, + 4.198064633804991 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 439.3598735601773, + 496.8224979657632, + 4.198064633804991 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 439.3598735601773, + 499.8224979657632, + 4.198064633804991 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 439.3598735601773, + 502.8224979657632, + 4.198064633804991 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 439.3598735601773, + 505.8224979657632, + 4.198064633804991 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 439.3598735601773, + 508.8224979657632, + 4.198064633804991 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 439.3598735601773, + 511.8224979657632, + 4.198064633804991 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 439.3598735601773, + 514.8224979657632, + 4.198064633804991 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 439.3598735601773, + 517.8224979657632, + 4.198064633804991 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 439.3598735601773, + 520.8224979657632, + 4.198064633804991 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 439.3598735601773, + 523.8224979657632, + 4.198064633804991 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 439.3598735601773, + 526.8224979657632, + 4.198064633804991 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 439.3598735601773, + 529.8224979657632, + 4.198064633804991 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 439.3598735601773, + 532.8224979657632, + 4.198064633804991 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 439.3598735601773, + 535.8224979657632, + 4.198064633804991 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 439.3598735601773, + 538.8224979657632, + 4.198064633804991 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 439.3598735601773, + 541.8224979657632, + 4.198064633804991 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 439.3598735601773, + 544.8224979657632, + 4.198064633804991 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 439.3598735601773, + 547.8224979657632, + 4.198064633804991 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 439.3598735601773, + 550.8224979657632, + 4.198064633804991 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 439.3598735601773, + 553.8224979657632, + 4.198064633804991 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 439.3598735601773, + 556.8224979657632, + 4.198064633804991 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 439.3598735601773, + 559.8224979657632, + 4.198064633804991 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 439.84950744628907, + 563.3985629272461, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_17-56-58_1886086990/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_17-56-58_1886086990/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d2877db7ad05b18a58b5624716d7aa03abc9b7b9 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_17-56-58_1886086990/pose.jsonl @@ -0,0 +1,482 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -719.5195689206429, + 118.446492453029, + 2.0021771660611796 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -719.5195689206429, + 121.446492453029, + 2.0021771660611796 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -719.5195689206429, + 124.446492453029, + 2.0021771660611796 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -719.5195689206429, + 127.446492453029, + 2.0021771660611796 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -719.5195689206429, + 130.446492453029, + 2.0021771660611796 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -719.5195689206429, + 133.446492453029, + 2.0021771660611796 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -719.5195689206429, + 136.446492453029, + 2.0021771660611796 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -719.5195689206429, + 139.446492453029, + 2.0021771660611796 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -719.5195689206429, + 142.446492453029, + 2.0021771660611796 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -719.5195689206429, + 145.446492453029, + 2.0021771660611796 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -719.5195689206429, + 148.446492453029, + 2.0021771660611796 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -719.5195689206429, + 151.446492453029, + 2.0021771660611796 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -719.5195689206429, + 154.446492453029, + 2.0021771660611796 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -719.5195689206429, + 157.446492453029, + 2.0021771660611796 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -719.5195689206429, + 160.446492453029, + 2.0021771660611796 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -719.5195689206429, + 163.446492453029, + 2.0021771660611796 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -719.5195689206429, + 166.446492453029, + 2.0021771660611796 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -719.5195689206429, + 169.446492453029, + 2.0021771660611796 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -719.5195689206429, + 172.446492453029, + 2.0021771660611796 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -719.5195689206429, + 175.446492453029, + 2.0021771660611796 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -719.5195689206429, + 178.446492453029, + 2.0021771660611796 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -719.5195689206429, + 181.446492453029, + 2.0021771660611796 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -719.5195689206429, + 184.446492453029, + 2.0021771660611796 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -719.5195689206429, + 187.446492453029, + 2.0021771660611796 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -719.5195689206429, + 190.446492453029, + 2.0021771660611796 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -719.5195689206429, + 193.446492453029, + 2.0021771660611796 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -719.5195689206429, + 196.446492453029, + 2.0021771660611796 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -719.5195689206429, + 199.446492453029, + 2.0021771660611796 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -719.5195689206429, + 202.446492453029, + 2.0021771660611796 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -719.5195689206429, + 205.446492453029, + 2.0021771660611796 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -719.5195689206429, + 208.446492453029, + 2.0021771660611796 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -719.5195689206429, + 211.446492453029, + 2.0021771660611796 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -719.5195689206429, + 214.446492453029, + 2.0021771660611796 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -719.5195689206429, + 217.446492453029, + 2.0021771660611796 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -719.5195689206429, + 220.446492453029, + 2.0021771660611796 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -719.5195689206429, + 223.446492453029, + 2.0021771660611796 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -719.2420056152343, + 225.9435828399658, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_17-58-20_552910253/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_17-58-20_552910253/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d16482c3126371820046743cae033df26db4011f --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_17-58-20_552910253/pose.jsonl @@ -0,0 +1,495 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -890.8625797726129, + 88.71385269774946, + -0.7225963645285214 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -889.3625797726129, + 86.11577648639614, + -0.7225963645285214 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -887.8625797726129, + 83.51770027504283, + -0.7225963645285214 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -886.3625797726129, + 80.91962406368951, + -0.7225963645285214 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -884.8625797726129, + 78.3215478523362, + -0.7225963645285214 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -883.3625797726129, + 75.72347164098288, + -0.7225963645285214 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -881.8625797726129, + 73.12539542962956, + -0.7225963645285214 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -880.3625797726129, + 70.52731921827625, + -0.7225963645285214 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -878.8625797726129, + 67.92924300692293, + -0.7225963645285214 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -877.3625797726129, + 65.33116679556962, + -0.7225963645285214 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -875.8625797726129, + 62.7330905842163, + -0.7225963645285214 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -874.3625797726129, + 60.13501437286298, + -0.7225963645285214 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -872.8625797726129, + 57.53693816150967, + -0.7225963645285214 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -871.3625797726129, + 54.93886195015635, + -0.7225963645285214 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -869.8625797726129, + 52.340785738803035, + -0.7225963645285214 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -868.3625797726129, + 49.74270952744972, + -0.7225963645285214 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -866.8625797726129, + 47.1446333160964, + -0.7225963645285214 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -865.3625797726129, + 44.54655710474309, + -0.7225963645285214 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -863.8625797726129, + 41.94848089338977, + -0.7225963645285214 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -862.3625797726129, + 39.350404682036455, + -0.7225963645285214 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -860.8625797726129, + 36.75232847068314, + -0.7225963645285214 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -859.3625797726129, + 34.15425225932982, + -0.7225963645285214 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -857.8625797726129, + 31.556176047976507, + -0.7225963645285214 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -857.8625797726129, + 31.556176047976507, + -0.7225963645285214 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -855.2645035612595, + 30.056176047976507, + -0.7225963645285214 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -852.6664273499061, + 28.556176047976507, + -0.7225963645285214 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -850.0683511385528, + 27.056176047976507, + -0.7225963645285214 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -847.4702749271994, + 25.556176047976507, + -0.7225963645285214 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -844.872198715846, + 24.056176047976507, + -0.7225963645285214 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -842.2741225044927, + 22.556176047976507, + -0.7225963645285214 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -839.6760462931393, + 21.056176047976507, + -0.7225963645285214 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -837.0779700817859, + 19.556176047976507, + -0.7225963645285214 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -834.4798938704325, + 18.056176047976507, + -0.7225963645285214 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -831.8818176590792, + 16.556176047976507, + -0.7225963645285214 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -829.2837414477258, + 15.056176047976507, + -0.7225963645285214 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -826.6856652363724, + 13.556176047976507, + -0.7225963645285214 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -824.087589025019, + 12.056176047976507, + -0.7225963645285214 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -821.0513497924804, + 12.496731524467467, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_18-13-21_561717988/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_18-13-21_561717988/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fb8405997359824f8c5f1221b347767f2d3925cd --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_18-13-21_561717988/pose.jsonl @@ -0,0 +1,456 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 116.40817571215383, + 215.51497121383824, + -2.7581532748907813 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 113.81009950080052, + 214.01497121383824, + -2.7581532748907813 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 111.2120232894472, + 212.51497121383824, + -2.7581532748907813 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 108.61394707809389, + 211.01497121383824, + -2.7581532748907813 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 106.01587086674057, + 209.51497121383824, + -2.7581532748907813 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 103.41779465538725, + 208.01497121383824, + -2.7581532748907813 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 100.81971844403394, + 206.51497121383824, + -2.7581532748907813 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 98.22164223268062, + 205.01497121383824, + -2.7581532748907813 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 95.6235660213273, + 203.51497121383824, + -2.7581532748907813 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 93.02548980997399, + 202.01497121383824, + -2.7581532748907813 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 90.42741359862067, + 200.51497121383824, + -2.7581532748907813 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 87.82933738726736, + 199.01497121383824, + -2.7581532748907813 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 85.23126117591404, + 197.51497121383824, + -2.7581532748907813 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 82.63318496456073, + 196.01497121383824, + -2.7581532748907813 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 80.03510875320741, + 194.51497121383824, + -2.7581532748907813 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 77.4370325418541, + 193.01497121383824, + -2.7581532748907813 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 74.83895633050078, + 191.51497121383824, + -2.7581532748907813 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 72.24088011914746, + 190.01497121383824, + -2.7581532748907813 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 69.64280390779415, + 188.51497121383824, + -2.7581532748907813 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 67.04472769644083, + 187.01497121383824, + -2.7581532748907813 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 64.44665148508751, + 185.51497121383824, + -2.7581532748907813 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 61.8485752737342, + 184.01497121383824, + -2.7581532748907813 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 59.25049906238088, + 182.51497121383824, + -2.7581532748907813 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 56.652422851027566, + 181.01497121383824, + -2.7581532748907813 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 54.05434663967425, + 179.51497121383824, + -2.7581532748907813 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 51.456270428320934, + 178.01497121383824, + -2.7581532748907813 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 48.85819421696762, + 176.51497121383824, + -2.7581532748907813 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 46.2601180056143, + 175.01497121383824, + -2.7581532748907813 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 46.2601180056143, + 175.01497121383824, + -2.7581532748907813 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 44.7601180056143, + 172.41689500248492, + -2.7581532748907813 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 43.2601180056143, + 169.8188187911316, + -2.7581532748907813 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 41.7601180056143, + 167.2207425797783, + -2.7581532748907813 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 40.2601180056143, + 164.62266636842497, + -2.7581532748907813 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 38.7601180056143, + 162.02459015707166, + -2.7581532748907813 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 36.64368785858154, + 161.94002262115478, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_18-13-39_1407392292/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_18-13-39_1407392292/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7bbb0c6b6bd9c268d4de8b03a4307a8e7134ad2c --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_18-13-39_1407392292/pose.jsonl @@ -0,0 +1,404 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -669.4066156297368, + 309.3690287456217, + 3.281364663625684 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -670.9066156297368, + 306.77095253426836, + 3.281364663625684 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -672.4066156297368, + 304.17287632291504, + 3.281364663625684 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -673.9066156297368, + 301.57480011156173, + 3.281364663625684 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -675.4066156297368, + 298.9767239002084, + 3.281364663625684 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -676.9066156297368, + 296.3786476888551, + 3.281364663625684 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -678.4066156297368, + 293.7805714775018, + 3.281364663625684 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -679.9066156297368, + 291.18249526614846, + 3.281364663625684 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -681.4066156297368, + 288.58441905479515, + 3.281364663625684 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -682.9066156297368, + 285.98634284344183, + 3.281364663625684 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -684.4066156297368, + 283.3882666320885, + 3.281364663625684 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -685.9066156297368, + 280.7901904207352, + 3.281364663625684 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -687.4066156297368, + 278.1921142093819, + 3.281364663625684 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -688.9066156297368, + 275.59403799802857, + 3.281364663625684 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -690.4066156297368, + 272.99596178667525, + 3.281364663625684 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -691.9066156297368, + 270.39788557532194, + 3.281364663625684 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -693.4066156297368, + 267.7998093639686, + 3.281364663625684 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -694.9066156297368, + 265.2017331526153, + 3.281364663625684 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -696.4066156297368, + 262.603656941262, + 3.281364663625684 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -697.9066156297368, + 260.0055807299087, + 3.281364663625684 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -699.4066156297368, + 257.40750451855536, + 3.281364663625684 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -699.4066156297368, + 257.40750451855536, + 3.281364663625684 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -699.4066156297368, + 254.40750451855536, + 3.281364663625684 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -699.4066156297368, + 251.40750451855536, + 3.281364663625684 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -699.4066156297368, + 248.40750451855536, + 3.281364663625684 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -699.4066156297368, + 245.40750451855536, + 3.281364663625684 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -699.4066156297368, + 242.40750451855536, + 3.281364663625684 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -699.4066156297368, + 239.40750451855536, + 3.281364663625684 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -699.4066156297368, + 236.40750451855536, + 3.281364663625684 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -699.4066156297368, + 233.40750451855536, + 3.281364663625684 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -701.839137878418, + 232.52609245300292, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_18-14-43_1433102829/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_18-14-43_1433102829/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a3d389baff9b8a9ad2f6196ef8d336e3e8979039 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_18-14-43_1433102829/pose.jsonl @@ -0,0 +1,443 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -585.9881177513842, + 109.20308108544945, + -1.7710572504996875 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -588.9881177513842, + 109.20308108544945, + -1.7710572504996875 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -591.9881177513842, + 109.20308108544945, + -1.7710572504996875 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -594.9881177513842, + 109.20308108544945, + -1.7710572504996875 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -597.9881177513842, + 109.20308108544945, + -1.7710572504996875 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -600.9881177513842, + 109.20308108544945, + -1.7710572504996875 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -603.9881177513842, + 109.20308108544945, + -1.7710572504996875 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -606.9881177513842, + 109.20308108544945, + -1.7710572504996875 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -609.9881177513842, + 109.20308108544945, + -1.7710572504996875 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -612.9881177513842, + 109.20308108544945, + -1.7710572504996875 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -615.9881177513842, + 109.20308108544945, + -1.7710572504996875 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -618.9881177513842, + 109.20308108544945, + -1.7710572504996875 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -621.9881177513842, + 109.20308108544945, + -1.7710572504996875 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -624.9881177513842, + 109.20308108544945, + -1.7710572504996875 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -627.9881177513842, + 109.20308108544945, + -1.7710572504996875 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -630.9881177513842, + 109.20308108544945, + -1.7710572504996875 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -633.9881177513842, + 109.20308108544945, + -1.7710572504996875 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -636.9881177513842, + 109.20308108544945, + -1.7710572504996875 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -639.9881177513842, + 109.20308108544945, + -1.7710572504996875 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -642.9881177513842, + 109.20308108544945, + -1.7710572504996875 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -645.9881177513842, + 109.20308108544945, + -1.7710572504996875 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -648.9881177513842, + 109.20308108544945, + -1.7710572504996875 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -651.9881177513842, + 109.20308108544945, + -1.7710572504996875 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -654.9881177513842, + 109.20308108544945, + -1.7710572504996875 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -657.9881177513842, + 109.20308108544945, + -1.7710572504996875 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -660.9881177513842, + 109.20308108544945, + -1.7710572504996875 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -663.9881177513842, + 109.20308108544945, + -1.7710572504996875 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -666.9881177513842, + 109.20308108544945, + -1.7710572504996875 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -669.9881177513842, + 109.20308108544945, + -1.7710572504996875 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -672.9881177513842, + 109.20308108544945, + -1.7710572504996875 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -675.9881177513842, + 109.20308108544945, + -1.7710572504996875 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -678.9881177513842, + 109.20308108544945, + -1.7710572504996875 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -681.9881177513842, + 109.20308108544945, + -1.7710572504996875 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -682.7478131103516, + 107.50352409362793, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_18-14-59_1887658390/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_18-14-59_1887658390/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0936cfadf5a8ce5916c615395c88d4b5fe7cfac7 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_18-14-59_1887658390/pose.jsonl @@ -0,0 +1,352 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -939.0342168477179, + 281.17483739410727, + -2.7197377739084647 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -940.5342168477179, + 283.7729136054606, + -2.7197377739084647 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -942.0342168477179, + 286.3709898168139, + -2.7197377739084647 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -943.5342168477179, + 288.9690660281672, + -2.7197377739084647 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -945.0342168477179, + 291.56714223952054, + -2.7197377739084647 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -946.5342168477179, + 294.16521845087385, + -2.7197377739084647 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -948.0342168477179, + 296.76329466222717, + -2.7197377739084647 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -949.5342168477179, + 299.3613708735805, + -2.7197377739084647 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -951.0342168477179, + 301.9594470849338, + -2.7197377739084647 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -952.5342168477179, + 304.5575232962871, + -2.7197377739084647 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -954.0342168477179, + 307.15559950764043, + -2.7197377739084647 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -955.5342168477179, + 309.75367571899375, + -2.7197377739084647 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -957.0342168477179, + 312.35175193034706, + -2.7197377739084647 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -958.5342168477179, + 314.9498281417004, + -2.7197377739084647 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -960.0342168477179, + 317.5479043530537, + -2.7197377739084647 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -961.5342168477179, + 320.145980564407, + -2.7197377739084647 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -963.0342168477179, + 322.7440567757603, + -2.7197377739084647 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -964.5342168477179, + 325.34213298711364, + -2.7197377739084647 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -966.0342168477179, + 327.94020919846696, + -2.7197377739084647 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -967.5342168477179, + 330.5382854098203, + -2.7197377739084647 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -969.0342168477179, + 333.1363616211736, + -2.7197377739084647 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -970.5342168477179, + 335.7344378325269, + -2.7197377739084647 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -972.0342168477179, + 338.3325140438802, + -2.7197377739084647 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -973.5342168477179, + 340.93059025523354, + -2.7197377739084647 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -975.0342168477179, + 343.52866646658686, + -2.7197377739084647 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -976.5342168477179, + 346.1267426779402, + -2.7197377739084647 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -979.8297436523437, + 358.6925830078125, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_18-29-29_1112720090/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_18-29-29_1112720090/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f3897f80217c1ef12bc6d75f8f440f14ce787239 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_18-29-29_1112720090/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 231.066762617874, + 761.3634126188276, + 1.2695902533787065 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 231.066762617874, + 758.3634126188276, + 1.2695902533787065 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 231.066762617874, + 755.3634126188276, + 1.2695902533787065 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 231.066762617874, + 752.3634126188276, + 1.2695902533787065 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 231.066762617874, + 749.3634126188276, + 1.2695902533787065 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 231.066762617874, + 746.3634126188276, + 1.2695902533787065 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 231.066762617874, + 743.3634126188276, + 1.2695902533787065 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 231.066762617874, + 740.3634126188276, + 1.2695902533787065 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 231.066762617874, + 737.3634126188276, + 1.2695902533787065 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 231.066762617874, + 734.3634126188276, + 1.2695902533787065 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 231.066762617874, + 731.3634126188276, + 1.2695902533787065 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 231.066762617874, + 728.3634126188276, + 1.2695902533787065 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 231.066762617874, + 725.3634126188276, + 1.2695902533787065 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 231.066762617874, + 722.3634126188276, + 1.2695902533787065 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 231.066762617874, + 719.3634126188276, + 1.2695902533787065 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 231.066762617874, + 716.3634126188276, + 1.2695902533787065 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 231.066762617874, + 713.3634126188276, + 1.2695902533787065 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 231.066762617874, + 710.3634126188276, + 1.2695902533787065 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 231.066762617874, + 707.3634126188276, + 1.2695902533787065 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 231.066762617874, + 704.3634126188276, + 1.2695902533787065 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 231.066762617874, + 701.3634126188276, + 1.2695902533787065 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 231.066762617874, + 698.3634126188276, + 1.2695902533787065 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 231.066762617874, + 695.3634126188276, + 1.2695902533787065 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 229.7172834777832, + 692.2608906555175, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_18-32-58_873524566/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_18-32-58_873524566/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0988a42daedd840e28ac24ca17f11265f98b6200 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_18-32-58_873524566/pose.jsonl @@ -0,0 +1,547 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -435.98294645859346, + -300.0211346415909, + -4.702387190260484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -438.98294645859346, + -300.0211346415909, + -4.702387190260484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -441.98294645859346, + -300.0211346415909, + -4.702387190260484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -444.98294645859346, + -300.0211346415909, + -4.702387190260484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -447.98294645859346, + -300.0211346415909, + -4.702387190260484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -450.98294645859346, + -300.0211346415909, + -4.702387190260484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -453.98294645859346, + -300.0211346415909, + -4.702387190260484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -456.98294645859346, + -300.0211346415909, + -4.702387190260484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -459.98294645859346, + -300.0211346415909, + -4.702387190260484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -462.98294645859346, + -300.0211346415909, + -4.702387190260484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -465.98294645859346, + -300.0211346415909, + -4.702387190260484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -468.98294645859346, + -300.0211346415909, + -4.702387190260484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -471.98294645859346, + -300.0211346415909, + -4.702387190260484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -474.98294645859346, + -300.0211346415909, + -4.702387190260484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -477.98294645859346, + -300.0211346415909, + -4.702387190260484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -480.98294645859346, + -300.0211346415909, + -4.702387190260484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -483.98294645859346, + -300.0211346415909, + -4.702387190260484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -486.98294645859346, + -300.0211346415909, + -4.702387190260484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -489.98294645859346, + -300.0211346415909, + -4.702387190260484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -492.98294645859346, + -300.0211346415909, + -4.702387190260484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -495.98294645859346, + -300.0211346415909, + -4.702387190260484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -498.98294645859346, + -300.0211346415909, + -4.702387190260484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -501.98294645859346, + -300.0211346415909, + -4.702387190260484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -504.98294645859346, + -300.0211346415909, + -4.702387190260484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -507.98294645859346, + -300.0211346415909, + -4.702387190260484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -510.98294645859346, + -300.0211346415909, + -4.702387190260484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -513.9829464585935, + -300.0211346415909, + -4.702387190260484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -516.9829464585935, + -300.0211346415909, + -4.702387190260484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -519.9829464585935, + -300.0211346415909, + -4.702387190260484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -522.9829464585935, + -300.0211346415909, + -4.702387190260484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -525.9829464585935, + -300.0211346415909, + -4.702387190260484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -528.9829464585935, + -300.0211346415909, + -4.702387190260484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -531.9829464585935, + -300.0211346415909, + -4.702387190260484 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -531.9829464585935, + -300.0211346415909, + -4.702387190260484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -534.5810226699468, + -301.5211346415909, + -4.702387190260484 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -537.1790988813002, + -303.0211346415909, + -4.702387190260484 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -539.7771750926536, + -304.5211346415909, + -4.702387190260484 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -542.375251304007, + -306.0211346415909, + -4.702387190260484 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -542.375251304007, + -306.0211346415909, + -4.702387190260484 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -543.875251304007, + -308.6192108529442, + -4.702387190260484 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -545.375251304007, + -311.2172870642975, + -4.702387190260484 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -545.8660174560547, + -312.8632476806641, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_18-35-19_2137100237/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_18-35-19_2137100237/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2465b47e255221eae5885512c4edfd3e9e7c4276 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_18-35-19_2137100237/pose.jsonl @@ -0,0 +1,404 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -512.7052385189995, + -210.50515561204907, + 0.1423141745500036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -510.1071623076462, + -209.00515561204907, + 0.1423141745500036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -507.5090860962929, + -207.50515561204907, + 0.1423141745500036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -504.9110098849396, + -206.00515561204907, + 0.1423141745500036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -502.31293367358626, + -204.50515561204907, + 0.1423141745500036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -499.71485746223294, + -203.00515561204907, + 0.1423141745500036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -497.1167812508796, + -201.50515561204907, + 0.1423141745500036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -494.5187050395263, + -200.00515561204907, + 0.1423141745500036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -491.920628828173, + -198.50515561204907, + 0.1423141745500036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -489.3225526168197, + -197.00515561204907, + 0.1423141745500036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -486.72447640546636, + -195.50515561204907, + 0.1423141745500036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -484.12640019411305, + -194.00515561204907, + 0.1423141745500036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -481.52832398275973, + -192.50515561204907, + 0.1423141745500036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -478.9302477714064, + -191.00515561204907, + 0.1423141745500036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -476.3321715600531, + -189.50515561204907, + 0.1423141745500036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -473.7340953486998, + -188.00515561204907, + 0.1423141745500036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -471.13601913734647, + -186.50515561204907, + 0.1423141745500036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -468.53794292599315, + -185.00515561204907, + 0.1423141745500036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -465.93986671463983, + -183.50515561204907, + 0.1423141745500036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -463.3417905032865, + -182.00515561204907, + 0.1423141745500036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -460.7437142919332, + -180.50515561204907, + 0.1423141745500036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -458.1456380805799, + -179.00515561204907, + 0.1423141745500036 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -458.1456380805799, + -179.00515561204907, + 0.1423141745500036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -456.6456380805799, + -176.40707940069575, + 0.1423141745500036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -455.1456380805799, + -173.80900318934243, + 0.1423141745500036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -453.6456380805799, + -171.21092697798912, + 0.1423141745500036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -452.1456380805799, + -168.6128507666358, + 0.1423141745500036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -450.6456380805799, + -166.0147745552825, + 0.1423141745500036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -449.1456380805799, + -163.41669834392917, + 0.1423141745500036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -447.6456380805799, + -160.81862213257585, + 0.1423141745500036 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -445.52278427124025, + -160.4525846862793, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_18-4-52_655858699/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_18-4-52_655858699/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..da3fd95d9d101c79ecddbf3f3583fe9a7dfe62ac --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_18-4-52_655858699/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -283.6640560197187, + 764.8054546274105, + 0.9466744822990751 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -286.26213223107203, + 763.3054546274105, + 0.9466744822990751 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -288.86020844242535, + 761.8054546274105, + 0.9466744822990751 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -291.45828465377866, + 760.3054546274105, + 0.9466744822990751 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -294.056360865132, + 758.8054546274105, + 0.9466744822990751 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -296.6544370764853, + 757.3054546274105, + 0.9466744822990751 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -299.2525132878386, + 755.8054546274105, + 0.9466744822990751 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -301.8505894991919, + 754.3054546274105, + 0.9466744822990751 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -304.44866571054524, + 752.8054546274105, + 0.9466744822990751 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -307.04674192189856, + 751.3054546274105, + 0.9466744822990751 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -309.6448181332519, + 749.8054546274105, + 0.9466744822990751 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -312.2428943446052, + 748.3054546274105, + 0.9466744822990751 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -314.8409705559585, + 746.8054546274105, + 0.9466744822990751 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -317.4390467673118, + 745.3054546274105, + 0.9466744822990751 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -320.03712297866514, + 743.8054546274105, + 0.9466744822990751 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -322.63519919001845, + 742.3054546274105, + 0.9466744822990751 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -322.63519919001845, + 742.3054546274105, + 0.9466744822990751 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -325.63519919001845, + 742.3054546274105, + 0.9466744822990751 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -328.63519919001845, + 742.3054546274105, + 0.9466744822990751 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -331.63519919001845, + 742.3054546274105, + 0.9466744822990751 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -334.63519919001845, + 742.3054546274105, + 0.9466744822990751 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -337.63519919001845, + 742.3054546274105, + 0.9466744822990751 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -340.63519919001845, + 742.3054546274105, + 0.9466744822990751 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -343.63519919001845, + 742.3054546274105, + 0.9466744822990751 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -346.63519919001845, + 742.3054546274105, + 0.9466744822990751 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -349.92333297729493, + 742.416524963379, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_18-43-55_336465782/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_18-43-55_336465782/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..803abef88b2fec0d3191a447a1e7d6f458eadd6e --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_18-43-55_336465782/pose.jsonl @@ -0,0 +1,417 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -416.81832731072353, + -58.392436767839435, + 1.5505423902719713 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -416.81832731072353, + -55.392436767839435, + 1.5505423902719713 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -416.81832731072353, + -52.392436767839435, + 1.5505423902719713 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -416.81832731072353, + -49.392436767839435, + 1.5505423902719713 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -416.81832731072353, + -46.392436767839435, + 1.5505423902719713 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -416.81832731072353, + -43.392436767839435, + 1.5505423902719713 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -416.81832731072353, + -40.392436767839435, + 1.5505423902719713 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -416.81832731072353, + -37.392436767839435, + 1.5505423902719713 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -416.81832731072353, + -34.392436767839435, + 1.5505423902719713 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -416.81832731072353, + -31.392436767839435, + 1.5505423902719713 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -416.81832731072353, + -28.392436767839435, + 1.5505423902719713 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -416.81832731072353, + -25.392436767839435, + 1.5505423902719713 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -416.81832731072353, + -22.392436767839435, + 1.5505423902719713 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -416.81832731072353, + -19.392436767839435, + 1.5505423902719713 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -416.81832731072353, + -16.392436767839435, + 1.5505423902719713 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -416.81832731072353, + -13.392436767839435, + 1.5505423902719713 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -416.81832731072353, + -10.392436767839435, + 1.5505423902719713 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -416.81832731072353, + -7.392436767839435, + 1.5505423902719713 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -416.81832731072353, + -4.392436767839435, + 1.5505423902719713 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -416.81832731072353, + -1.3924367678394347, + 1.5505423902719713 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -416.81832731072353, + 1.6075632321605653, + 1.5505423902719713 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -416.81832731072353, + 1.6075632321605653, + 1.5505423902719713 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -416.81832731072353, + 1.6075632321605653, + 1.5505423902719713 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -419.41640352207685, + 3.1075632321605653, + 1.5505423902719713 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -422.01447973343016, + 4.607563232160565, + 1.5505423902719713 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -422.01447973343016, + 4.607563232160565, + 1.5505423902719713 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -423.51447973343016, + 7.205639443513881, + 1.5505423902719713 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -425.01447973343016, + 9.803715654867197, + 1.5505423902719713 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -426.51447973343016, + 12.401791866220513, + 1.5505423902719713 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -428.01447973343016, + 14.99986807757383, + 1.5505423902719713 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -429.51447973343016, + 17.597944288927145, + 1.5505423902719713 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -431.4943495178223, + 32.88219102859497, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_18-48-1_1131176229/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_18-48-1_1131176229/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..90978857ae38cc815ee4b6ec3813442826b9227c --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_18-48-1_1131176229/pose.jsonl @@ -0,0 +1,560 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -269.63675949678134, + -100.33048915194587, + 2.383890622251517 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -266.63675949678134, + -100.33048915194587, + 2.383890622251517 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -263.63675949678134, + -100.33048915194587, + 2.383890622251517 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -260.63675949678134, + -100.33048915194587, + 2.383890622251517 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -257.63675949678134, + -100.33048915194587, + 2.383890622251517 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -254.63675949678134, + -100.33048915194587, + 2.383890622251517 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -251.63675949678134, + -100.33048915194587, + 2.383890622251517 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -248.63675949678134, + -100.33048915194587, + 2.383890622251517 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -245.63675949678134, + -100.33048915194587, + 2.383890622251517 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -242.63675949678134, + -100.33048915194587, + 2.383890622251517 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -239.63675949678134, + -100.33048915194587, + 2.383890622251517 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -236.63675949678134, + -100.33048915194587, + 2.383890622251517 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -233.63675949678134, + -100.33048915194587, + 2.383890622251517 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -230.63675949678134, + -100.33048915194587, + 2.383890622251517 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -227.63675949678134, + -100.33048915194587, + 2.383890622251517 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -224.63675949678134, + -100.33048915194587, + 2.383890622251517 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -221.63675949678134, + -100.33048915194587, + 2.383890622251517 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -221.63675949678134, + -100.33048915194587, + 2.383890622251517 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -219.03868328542802, + -98.83048915194587, + 2.383890622251517 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -216.4406070740747, + -97.33048915194587, + 2.383890622251517 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -213.8425308627214, + -95.83048915194587, + 2.383890622251517 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -211.24445465136807, + -94.33048915194587, + 2.383890622251517 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -208.64637844001476, + -92.83048915194587, + 2.383890622251517 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -206.04830222866144, + -91.33048915194587, + 2.383890622251517 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -203.45022601730813, + -89.83048915194587, + 2.383890622251517 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -200.8521498059548, + -88.33048915194587, + 2.383890622251517 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -198.2540735946015, + -86.83048915194587, + 2.383890622251517 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -195.65599738324818, + -85.33048915194587, + 2.383890622251517 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -193.05792117189486, + -83.83048915194587, + 2.383890622251517 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -190.45984496054155, + -82.33048915194587, + 2.383890622251517 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -187.86176874918823, + -80.83048915194587, + 2.383890622251517 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -185.2636925378349, + -79.33048915194587, + 2.383890622251517 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -182.6656163264816, + -77.83048915194587, + 2.383890622251517 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -180.06754011512828, + -76.33048915194587, + 2.383890622251517 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -177.46946390377497, + -74.83048915194587, + 2.383890622251517 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -174.87138769242165, + -73.33048915194587, + 2.383890622251517 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -172.27331148106833, + -71.83048915194587, + 2.383890622251517 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -169.67523526971502, + -70.33048915194587, + 2.383890622251517 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -167.0771590583617, + -68.83048915194587, + 2.383890622251517 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -164.47908284700839, + -67.33048915194587, + 2.383890622251517 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -161.88100663565507, + -65.83048915194587, + 2.383890622251517 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -159.28293042430175, + -64.33048915194587, + 2.383890622251517 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -156.47577671051025, + -64.65314291000367, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_18-48-21_1653377373/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_18-48-21_1653377373/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ecd73cc76c473b78fdbcd5be190c0cf54a065d86 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_18-48-21_1653377373/pose.jsonl @@ -0,0 +1,404 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -824.7675589432685, + -11.930047861184569, + -4.210185884977233 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -823.2675589432685, + -9.331971649831253, + -4.210185884977233 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -821.7675589432685, + -6.733895438477937, + -4.210185884977233 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -820.2675589432685, + -4.135819227124621, + -4.210185884977233 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -818.7675589432685, + -1.537743015771305, + -4.210185884977233 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -817.2675589432685, + 1.060333195582011, + -4.210185884977233 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -815.7675589432685, + 3.658409406935327, + -4.210185884977233 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -814.2675589432685, + 6.256485618288643, + -4.210185884977233 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -812.7675589432685, + 8.854561829641959, + -4.210185884977233 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -811.2675589432685, + 11.452638040995275, + -4.210185884977233 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -809.7675589432685, + 14.050714252348591, + -4.210185884977233 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -808.2675589432685, + 16.648790463701907, + -4.210185884977233 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -806.7675589432685, + 19.246866675055223, + -4.210185884977233 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -805.2675589432685, + 21.84494288640854, + -4.210185884977233 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -803.7675589432685, + 24.443019097761855, + -4.210185884977233 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -802.2675589432685, + 27.04109530911517, + -4.210185884977233 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -800.7675589432685, + 29.639171520468487, + -4.210185884977233 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -799.2675589432685, + 32.2372477318218, + -4.210185884977233 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -797.7675589432685, + 34.83532394317512, + -4.210185884977233 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -797.7675589432685, + 34.83532394317512, + -4.210185884977233 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -795.1694827319152, + 36.33532394317512, + -4.210185884977233 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -792.5714065205618, + 37.83532394317512, + -4.210185884977233 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -789.9733303092084, + 39.33532394317512, + -4.210185884977233 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -787.3752540978551, + 40.83532394317512, + -4.210185884977233 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -784.7771778865017, + 42.33532394317512, + -4.210185884977233 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -782.1791016751483, + 43.83532394317512, + -4.210185884977233 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -779.581025463795, + 45.33532394317512, + -4.210185884977233 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -776.9829492524416, + 46.83532394317512, + -4.210185884977233 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -774.3848730410882, + 48.33532394317512, + -4.210185884977233 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -771.7867968297348, + 49.83532394317512, + -4.210185884977233 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -768.8232287597656, + 49.617736358642574, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_18-5-37_1395132002/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_18-5-37_1395132002/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5e1fb193bbd27a3a455c68da90990d4095911d6c --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_18-5-37_1395132002/pose.jsonl @@ -0,0 +1,469 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -692.3083146144662, + -13.773566722461986, + -1.4643259489504783 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -694.9063908258195, + -12.273566722461986, + -1.4643259489504783 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -697.5044670371728, + -10.773566722461986, + -1.4643259489504783 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -700.1025432485262, + -9.273566722461986, + -1.4643259489504783 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -702.7006194598796, + -7.773566722461986, + -1.4643259489504783 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -705.298695671233, + -6.273566722461986, + -1.4643259489504783 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -707.8967718825863, + -4.773566722461986, + -1.4643259489504783 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -710.4948480939397, + -3.273566722461986, + -1.4643259489504783 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -713.0929243052931, + -1.7735667224619862, + -1.4643259489504783 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -715.6910005166465, + -0.27356672246198643, + -1.4643259489504783 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -718.2890767279998, + 1.2264332775380133, + -1.4643259489504783 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -720.8871529393532, + 2.726433277538013, + -1.4643259489504783 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -723.4852291507066, + 4.226433277538013, + -1.4643259489504783 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -726.08330536206, + 5.726433277538013, + -1.4643259489504783 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -728.6813815734133, + 7.226433277538013, + -1.4643259489504783 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -731.2794577847667, + 8.726433277538012, + -1.4643259489504783 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991504 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -733.8775339961201, + 10.226433277538012, + -1.4643259489504783 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -736.4756102074734, + 11.726433277538012, + -1.4643259489504783 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -739.0736864188268, + 13.226433277538012, + -1.4643259489504783 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -741.6717626301802, + 14.726433277538012, + -1.4643259489504783 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -744.2698388415336, + 16.22643327753801, + -1.4643259489504783 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991504 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -746.8679150528869, + 17.72643327753801, + -1.4643259489504783 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -749.4659912642403, + 19.22643327753801, + -1.4643259489504783 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -749.4659912642403, + 19.22643327753801, + -1.4643259489504783 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -750.9659912642403, + 21.824509488891326, + -1.4643259489504783 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -752.4659912642403, + 24.422585700244642, + -1.4643259489504783 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -753.9659912642403, + 27.02066191159796, + -1.4643259489504783 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -755.4659912642403, + 29.618738122951275, + -1.4643259489504783 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -756.9659912642403, + 32.21681433430459, + -1.4643259489504783 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393196 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -758.4659912642403, + 34.8148905456579, + -1.4643259489504783 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -759.9659912642403, + 37.41296675701122, + -1.4643259489504783 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -761.4659912642403, + 40.011042968364535, + -1.4643259489504783 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -762.9659912642403, + 42.60911917971785, + -1.4643259489504783 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -764.4659912642403, + 45.20719539107117, + -1.4643259489504783 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -765.9659912642403, + 47.80527160242448, + -1.4643259489504783 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -768.8232287597656, + 49.617736358642574, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_18-54-31_572660336/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_18-54-31_572660336/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1ec412a783e62679cd4f976fa0cba8e725da71c8 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_18-54-31_572660336/pose.jsonl @@ -0,0 +1,469 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -167.78039957413827, + 583.8031643423836, + -0.6593929115239732 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -169.28039957413827, + 586.4012405537369, + -0.6593929115239732 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -170.78039957413827, + 588.9993167650903, + -0.6593929115239732 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -172.28039957413827, + 591.5973929764436, + -0.6593929115239732 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -173.78039957413827, + 594.195469187797, + -0.6593929115239732 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -175.28039957413827, + 596.7935453991504, + -0.6593929115239732 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -176.78039957413827, + 599.3916216105038, + -0.6593929115239732 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -178.28039957413827, + 601.9896978218571, + -0.6593929115239732 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -179.78039957413827, + 604.5877740332105, + -0.6593929115239732 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -181.28039957413827, + 607.1858502445639, + -0.6593929115239732 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -182.78039957413827, + 609.7839264559173, + -0.6593929115239732 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -184.28039957413827, + 612.3820026672706, + -0.6593929115239732 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -185.78039957413827, + 614.980078878624, + -0.6593929115239732 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -187.28039957413827, + 617.5781550899774, + -0.6593929115239732 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -188.78039957413827, + 620.1762313013307, + -0.6593929115239732 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -190.28039957413827, + 622.7743075126841, + -0.6593929115239732 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -191.78039957413827, + 625.3723837240375, + -0.6593929115239732 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -193.28039957413827, + 627.9704599353909, + -0.6593929115239732 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -194.78039957413827, + 630.5685361467442, + -0.6593929115239732 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -196.28039957413827, + 633.1666123580976, + -0.6593929115239732 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -197.78039957413827, + 635.764688569451, + -0.6593929115239732 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -199.28039957413827, + 638.3627647808044, + -0.6593929115239732 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -200.78039957413827, + 640.9608409921577, + -0.6593929115239732 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -202.28039957413827, + 643.5589172035111, + -0.6593929115239732 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -203.78039957413827, + 646.1569934148645, + -0.6593929115239732 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -205.28039957413827, + 648.7550696262178, + -0.6593929115239732 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -206.78039957413827, + 651.3531458375712, + -0.6593929115239732 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -206.78039957413827, + 651.3531458375712, + -0.6593929115239732 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -209.3784757854916, + 652.8531458375712, + -0.6593929115239732 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -211.9765519968449, + 654.3531458375712, + -0.6593929115239732 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -214.57462820819822, + 655.8531458375712, + -0.6593929115239732 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -217.17270441955154, + 657.3531458375712, + -0.6593929115239732 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -219.77078063090485, + 658.8531458375712, + -0.6593929115239732 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -222.36885684225817, + 660.3531458375712, + -0.6593929115239732 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -224.96693305361148, + 661.8531458375712, + -0.6593929115239732 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -227.7933927154541, + 663.3823291015625, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_18-58-7_1585990364/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_18-58-7_1585990364/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8a494007e5d84b307c604fa11e4469d018e4fdb3 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_18-58-7_1585990364/pose.jsonl @@ -0,0 +1,235 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 449.6842161645743, + 408.75564548381016, + -3.0283933204289473 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 452.6842161645743, + 408.75564548381016, + -3.0283933204289473 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 455.6842161645743, + 408.75564548381016, + -3.0283933204289473 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 458.6842161645743, + 408.75564548381016, + -3.0283933204289473 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 461.6842161645743, + 408.75564548381016, + -3.0283933204289473 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 464.6842161645743, + 408.75564548381016, + -3.0283933204289473 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 467.6842161645743, + 408.75564548381016, + -3.0283933204289473 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 470.6842161645743, + 408.75564548381016, + -3.0283933204289473 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 473.6842161645743, + 408.75564548381016, + -3.0283933204289473 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 476.6842161645743, + 408.75564548381016, + -3.0283933204289473 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 479.6842161645743, + 408.75564548381016, + -3.0283933204289473 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 482.6842161645743, + 408.75564548381016, + -3.0283933204289473 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 485.6842161645743, + 408.75564548381016, + -3.0283933204289473 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 488.6842161645743, + 408.75564548381016, + -3.0283933204289473 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 491.6842161645743, + 408.75564548381016, + -3.0283933204289473 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 494.6842161645743, + 408.75564548381016, + -3.0283933204289473 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 497.6842161645743, + 408.75564548381016, + -3.0283933204289473 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 560.3580831909179, + 412.7992530822754, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_18-8-20_1328104339/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_18-8-20_1328104339/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e1b6df3e83f243e41cadc6f4a6a34c05da72da94 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_18-8-20_1328104339/pose.jsonl @@ -0,0 +1,352 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 381.90419956584407, + 588.959091034764, + -4.564819784295452 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 384.90419956584407, + 588.959091034764, + -4.564819784295452 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 387.90419956584407, + 588.959091034764, + -4.564819784295452 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 390.90419956584407, + 588.959091034764, + -4.564819784295452 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 393.90419956584407, + 588.959091034764, + -4.564819784295452 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 396.90419956584407, + 588.959091034764, + -4.564819784295452 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 399.90419956584407, + 588.959091034764, + -4.564819784295452 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 402.90419956584407, + 588.959091034764, + -4.564819784295452 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 405.90419956584407, + 588.959091034764, + -4.564819784295452 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 405.90419956584407, + 588.959091034764, + -4.564819784295452 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 405.90419956584407, + 588.959091034764, + -4.564819784295452 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 407.40419956584407, + 586.3610148234106, + -4.564819784295452 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 408.90419956584407, + 583.7629386120573, + -4.564819784295452 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 410.40419956584407, + 581.1648624007039, + -4.564819784295452 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 410.40419956584407, + 581.1648624007039, + -4.564819784295452 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 413.0022757771974, + 579.6648624007039, + -4.564819784295452 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 415.6003519885507, + 578.1648624007039, + -4.564819784295452 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 418.198428199904, + 576.6648624007039, + -4.564819784295452 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 420.79650441125733, + 575.1648624007039, + -4.564819784295452 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 423.39458062261065, + 573.6648624007039, + -4.564819784295452 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 425.99265683396396, + 572.1648624007039, + -4.564819784295452 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 428.5907330453173, + 570.6648624007039, + -4.564819784295452 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 431.1888092566706, + 569.1648624007039, + -4.564819784295452 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 433.7868854680239, + 567.6648624007039, + -4.564819784295452 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 436.3849616793772, + 566.1648624007039, + -4.564819784295452 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 438.98303789073054, + 564.6648624007039, + -4.564819784295452 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 439.84950744628907, + 563.3985629272461, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-11-43_791698927/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-11-43_791698927/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5c8c5ba1343da4f964a52fa94ec21dd84122a940 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-11-43_791698927/pose.jsonl @@ -0,0 +1,404 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -126.86017336459321, + 294.4159828183568, + 3.279356371572783 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -126.86017336459321, + 297.4159828183568, + 3.279356371572783 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -126.86017336459321, + 300.4159828183568, + 3.279356371572783 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -126.86017336459321, + 303.4159828183568, + 3.279356371572783 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -126.86017336459321, + 306.4159828183568, + 3.279356371572783 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -126.86017336459321, + 309.4159828183568, + 3.279356371572783 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -126.86017336459321, + 312.4159828183568, + 3.279356371572783 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -126.86017336459321, + 315.4159828183568, + 3.279356371572783 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -126.86017336459321, + 318.4159828183568, + 3.279356371572783 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -126.86017336459321, + 321.4159828183568, + 3.279356371572783 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -126.86017336459321, + 324.4159828183568, + 3.279356371572783 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -126.86017336459321, + 327.4159828183568, + 3.279356371572783 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -126.86017336459321, + 330.4159828183568, + 3.279356371572783 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -126.86017336459321, + 333.4159828183568, + 3.279356371572783 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -126.86017336459321, + 336.4159828183568, + 3.279356371572783 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -126.86017336459321, + 339.4159828183568, + 3.279356371572783 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -126.86017336459321, + 342.4159828183568, + 3.279356371572783 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -126.86017336459321, + 345.4159828183568, + 3.279356371572783 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -126.86017336459321, + 348.4159828183568, + 3.279356371572783 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -126.86017336459321, + 351.4159828183568, + 3.279356371572783 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -126.86017336459321, + 354.4159828183568, + 3.279356371572783 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -126.86017336459321, + 354.4159828183568, + 3.279356371572783 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -125.36017336459321, + 357.0140590297101, + 3.279356371572783 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -123.86017336459321, + 359.6121352410634, + 3.279356371572783 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -122.36017336459321, + 362.21021145241673, + 3.279356371572783 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -120.86017336459321, + 364.80828766377005, + 3.279356371572783 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -119.36017336459321, + 367.40636387512336, + 3.279356371572783 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -117.86017336459321, + 370.0044400864767, + 3.279356371572783 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -116.36017336459321, + 372.60251629783, + 3.279356371572783 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -114.86017336459321, + 375.2005925091833, + 3.279356371572783 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -114.1546768951416, + 378.73713836669924, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-14-2_352406219/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-14-2_352406219/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c24f978f51ccd4e27e3d0d3ff570c7c1b9c32664 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-14-2_352406219/pose.jsonl @@ -0,0 +1,547 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -693.1275433675572, + 140.05196836834904, + -3.0772106278664735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -693.1275433675572, + 143.05196836834904, + -3.0772106278664735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -693.1275433675572, + 146.05196836834904, + -3.0772106278664735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -693.1275433675572, + 149.05196836834904, + -3.0772106278664735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -693.1275433675572, + 152.05196836834904, + -3.0772106278664735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -693.1275433675572, + 155.05196836834904, + -3.0772106278664735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -693.1275433675572, + 158.05196836834904, + -3.0772106278664735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -693.1275433675572, + 161.05196836834904, + -3.0772106278664735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -693.1275433675572, + 164.05196836834904, + -3.0772106278664735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -693.1275433675572, + 167.05196836834904, + -3.0772106278664735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -693.1275433675572, + 170.05196836834904, + -3.0772106278664735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -693.1275433675572, + 173.05196836834904, + -3.0772106278664735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -693.1275433675572, + 176.05196836834904, + -3.0772106278664735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -693.1275433675572, + 179.05196836834904, + -3.0772106278664735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -693.1275433675572, + 182.05196836834904, + -3.0772106278664735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -693.1275433675572, + 185.05196836834904, + -3.0772106278664735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -693.1275433675572, + 188.05196836834904, + -3.0772106278664735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -693.1275433675572, + 191.05196836834904, + -3.0772106278664735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -693.1275433675572, + 194.05196836834904, + -3.0772106278664735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -693.1275433675572, + 197.05196836834904, + -3.0772106278664735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -693.1275433675572, + 200.05196836834904, + -3.0772106278664735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -693.1275433675572, + 203.05196836834904, + -3.0772106278664735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -693.1275433675572, + 206.05196836834904, + -3.0772106278664735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -693.1275433675572, + 209.05196836834904, + -3.0772106278664735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -693.1275433675572, + 212.05196836834904, + -3.0772106278664735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -693.1275433675572, + 215.05196836834904, + -3.0772106278664735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -693.1275433675572, + 218.05196836834904, + -3.0772106278664735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -693.1275433675572, + 221.05196836834904, + -3.0772106278664735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -693.1275433675572, + 224.05196836834904, + -3.0772106278664735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -693.1275433675572, + 227.05196836834904, + -3.0772106278664735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -693.1275433675572, + 230.05196836834904, + -3.0772106278664735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -693.1275433675572, + 233.05196836834904, + -3.0772106278664735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -693.1275433675572, + 236.05196836834904, + -3.0772106278664735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -693.1275433675572, + 239.05196836834904, + -3.0772106278664735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -693.1275433675572, + 242.05196836834904, + -3.0772106278664735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -693.1275433675572, + 245.05196836834904, + -3.0772106278664735 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -693.1275433675572, + 245.05196836834904, + -3.0772106278664735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -691.6275433675572, + 247.65004457970235, + -3.0772106278664735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -690.1275433675572, + 250.24812079105567, + -3.0772106278664735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -688.6275433675572, + 252.84619700240899, + -3.0772106278664735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -687.1275433675572, + 255.4442732137623, + -3.0772106278664735 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -686.6680834960937, + 258.1570868682861, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-19-11_439493451/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-19-11_439493451/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..541a21a514d5dc3010ede3cf5d054ba9b9309c0b --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-19-11_439493451/pose.jsonl @@ -0,0 +1,430 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -681.9541271265821, + 350.78685268022906, + -0.34209833478566853 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -681.9541271265821, + 347.78685268022906, + -0.34209833478566853 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -681.9541271265821, + 344.78685268022906, + -0.34209833478566853 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -681.9541271265821, + 341.78685268022906, + -0.34209833478566853 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -681.9541271265821, + 338.78685268022906, + -0.34209833478566853 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -681.9541271265821, + 335.78685268022906, + -0.34209833478566853 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -681.9541271265821, + 332.78685268022906, + -0.34209833478566853 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -681.9541271265821, + 329.78685268022906, + -0.34209833478566853 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -681.9541271265821, + 326.78685268022906, + -0.34209833478566853 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -681.9541271265821, + 323.78685268022906, + -0.34209833478566853 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -681.9541271265821, + 320.78685268022906, + -0.34209833478566853 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -681.9541271265821, + 317.78685268022906, + -0.34209833478566853 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -681.9541271265821, + 314.78685268022906, + -0.34209833478566853 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -681.9541271265821, + 311.78685268022906, + -0.34209833478566853 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -681.9541271265821, + 308.78685268022906, + -0.34209833478566853 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -681.9541271265821, + 305.78685268022906, + -0.34209833478566853 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -681.9541271265821, + 302.78685268022906, + -0.34209833478566853 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -681.9541271265821, + 299.78685268022906, + -0.34209833478566853 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -681.9541271265821, + 296.78685268022906, + -0.34209833478566853 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -681.9541271265821, + 293.78685268022906, + -0.34209833478566853 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -681.9541271265821, + 290.78685268022906, + -0.34209833478566853 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -681.9541271265821, + 287.78685268022906, + -0.34209833478566853 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -681.9541271265821, + 284.78685268022906, + -0.34209833478566853 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -681.9541271265821, + 281.78685268022906, + -0.34209833478566853 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -681.9541271265821, + 278.78685268022906, + -0.34209833478566853 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -681.9541271265821, + 275.78685268022906, + -0.34209833478566853 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -681.9541271265821, + 272.78685268022906, + -0.34209833478566853 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -681.9541271265821, + 269.78685268022906, + -0.34209833478566853 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -681.9541271265821, + 266.78685268022906, + -0.34209833478566853 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -681.9541271265821, + 266.78685268022906, + -0.34209833478566853 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -683.4541271265821, + 264.18877646887574, + -0.34209833478566853 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -684.9541271265821, + 261.5907002575224, + -0.34209833478566853 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -686.6680834960937, + 258.1570868682861, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-2-25_943947739/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-2-25_943947739/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6dab0c50553749ed0137224db63b6ab1812f5c67 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-2-25_943947739/pose.jsonl @@ -0,0 +1,469 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -174.49585024113787, + -450.73446145976, + -3.257775045436171 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -177.49585024113787, + -450.73446145976, + -3.257775045436171 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -180.49585024113787, + -450.73446145976, + -3.257775045436171 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -183.49585024113787, + -450.73446145976, + -3.257775045436171 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -186.49585024113787, + -450.73446145976, + -3.257775045436171 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -189.49585024113787, + -450.73446145976, + -3.257775045436171 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -192.49585024113787, + -450.73446145976, + -3.257775045436171 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -195.49585024113787, + -450.73446145976, + -3.257775045436171 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -198.49585024113787, + -450.73446145976, + -3.257775045436171 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -201.49585024113787, + -450.73446145976, + -3.257775045436171 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -204.49585024113787, + -450.73446145976, + -3.257775045436171 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -207.49585024113787, + -450.73446145976, + -3.257775045436171 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -210.49585024113787, + -450.73446145976, + -3.257775045436171 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -213.49585024113787, + -450.73446145976, + -3.257775045436171 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -216.49585024113787, + -450.73446145976, + -3.257775045436171 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -219.49585024113787, + -450.73446145976, + -3.257775045436171 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -222.49585024113787, + -450.73446145976, + -3.257775045436171 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -225.49585024113787, + -450.73446145976, + -3.257775045436171 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -228.49585024113787, + -450.73446145976, + -3.257775045436171 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -231.49585024113787, + -450.73446145976, + -3.257775045436171 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -234.49585024113787, + -450.73446145976, + -3.257775045436171 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -237.49585024113787, + -450.73446145976, + -3.257775045436171 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -240.49585024113787, + -450.73446145976, + -3.257775045436171 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -240.49585024113787, + -450.73446145976, + -3.257775045436171 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -243.0939264524912, + -452.23446145976, + -3.257775045436171 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -245.6920026638445, + -453.73446145976, + -3.257775045436171 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -248.29007887519782, + -455.23446145976, + -3.257775045436171 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -250.88815508655114, + -456.73446145976, + -3.257775045436171 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -253.48623129790445, + -458.23446145976, + -3.257775045436171 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -256.08430750925777, + -459.73446145976, + -3.257775045436171 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -258.6823837206111, + -461.23446145976, + -3.257775045436171 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -261.2804599319644, + -462.73446145976, + -3.257775045436171 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -263.8785361433177, + -464.23446145976, + -3.257775045436171 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -263.8785361433177, + -464.23446145976, + -3.257775045436171 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -266.8785361433177, + -464.23446145976, + -3.257775045436171 + ], + "type": "stop", + "value": 0, + "yaw": -3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -270.6246540832519, + -464.87673126220704, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-2-55_855636226/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-2-55_855636226/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6126cc323f5159b3bc3e1a043312b1b383114f20 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-2-55_855636226/pose.jsonl @@ -0,0 +1,508 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -124.41439899676051, + 479.2858892375531, + -2.492151835627876 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -124.41439899676051, + 476.2858892375531, + -2.492151835627876 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -124.41439899676051, + 473.2858892375531, + -2.492151835627876 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -124.41439899676051, + 470.2858892375531, + -2.492151835627876 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -124.41439899676051, + 467.2858892375531, + -2.492151835627876 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -124.41439899676051, + 464.2858892375531, + -2.492151835627876 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -124.41439899676051, + 461.2858892375531, + -2.492151835627876 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -124.41439899676051, + 458.2858892375531, + -2.492151835627876 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -124.41439899676051, + 455.2858892375531, + -2.492151835627876 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -124.41439899676051, + 452.2858892375531, + -2.492151835627876 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -124.41439899676051, + 449.2858892375531, + -2.492151835627876 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -124.41439899676051, + 446.2858892375531, + -2.492151835627876 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -124.41439899676051, + 443.2858892375531, + -2.492151835627876 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -124.41439899676051, + 440.2858892375531, + -2.492151835627876 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -124.41439899676051, + 437.2858892375531, + -2.492151835627876 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -124.41439899676051, + 434.2858892375531, + -2.492151835627876 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -124.41439899676051, + 431.2858892375531, + -2.492151835627876 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -124.41439899676051, + 428.2858892375531, + -2.492151835627876 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -124.41439899676051, + 425.2858892375531, + -2.492151835627876 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -124.41439899676051, + 422.2858892375531, + -2.492151835627876 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -124.41439899676051, + 419.2858892375531, + -2.492151835627876 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -124.41439899676051, + 416.2858892375531, + -2.492151835627876 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -124.41439899676051, + 413.2858892375531, + -2.492151835627876 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -124.41439899676051, + 410.2858892375531, + -2.492151835627876 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -124.41439899676051, + 407.2858892375531, + -2.492151835627876 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -124.41439899676051, + 404.2858892375531, + -2.492151835627876 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -124.41439899676051, + 401.2858892375531, + -2.492151835627876 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -124.41439899676051, + 398.2858892375531, + -2.492151835627876 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -124.41439899676051, + 395.2858892375531, + -2.492151835627876 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -124.41439899676051, + 392.2858892375531, + -2.492151835627876 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -124.41439899676051, + 389.2858892375531, + -2.492151835627876 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -124.41439899676051, + 389.2858892375531, + -2.492151835627876 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -124.41439899676051, + 389.2858892375531, + -2.492151835627876 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -121.8163227854072, + 387.7858892375531, + -2.492151835627876 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -119.21824657405388, + 386.2858892375531, + -2.492151835627876 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -116.62017036270056, + 384.7858892375531, + -2.492151835627876 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -116.62017036270056, + 384.7858892375531, + -2.492151835627876 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -115.12017036270056, + 382.18781302619976, + -2.492151835627876 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965976 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -114.1546768951416, + 378.73713836669924, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-23-14_8936987/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-23-14_8936987/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7af2e9879b775dd8ee973602bae49d3dab9b6249 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-23-14_8936987/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -564.5653432976999, + 133.4744906558684, + 4.672452808310366 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -564.5653432976999, + 136.4744906558684, + 4.672452808310366 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -564.5653432976999, + 139.4744906558684, + 4.672452808310366 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -564.5653432976999, + 142.4744906558684, + 4.672452808310366 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -564.5653432976999, + 145.4744906558684, + 4.672452808310366 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -564.5653432976999, + 148.4744906558684, + 4.672452808310366 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -564.5653432976999, + 151.4744906558684, + 4.672452808310366 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -564.5653432976999, + 154.4744906558684, + 4.672452808310366 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -564.5653432976999, + 157.4744906558684, + 4.672452808310366 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -564.5653432976999, + 160.4744906558684, + 4.672452808310366 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -564.5653432976999, + 163.4744906558684, + 4.672452808310366 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -564.5653432976999, + 166.4744906558684, + 4.672452808310366 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -564.5653432976999, + 169.4744906558684, + 4.672452808310366 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -564.5653432976999, + 172.4744906558684, + 4.672452808310366 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -564.5653432976999, + 172.4744906558684, + 4.672452808310366 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -563.0653432976999, + 175.07256686722172, + 4.672452808310366 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -561.5653432976999, + 177.67064307857504, + 4.672452808310366 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -560.0653432976999, + 180.26871928992836, + 4.672452808310366 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -558.5653432976999, + 182.86679550128167, + 4.672452808310366 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -557.0653432976999, + 185.464871712635, + 4.672452808310366 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -555.5653432976999, + 188.0629479239883, + 4.672452808310366 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -554.0653432976999, + 190.66102413534162, + 4.672452808310366 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -552.5653432976999, + 193.25910034669494, + 4.672452808310366 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -551.0653432976999, + 195.85717655804825, + 4.672452808310366 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -549.5653432976999, + 198.45525276940157, + 4.672452808310366 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -547.9009985351562, + 200.65022193908692, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-24-52_1960709859/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-24-52_1960709859/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3691765a2082738fbaa1ea7193d55ac7877b4535 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-24-52_1960709859/pose.jsonl @@ -0,0 +1,287 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -585.6152484589434, + 513.3959328281766, + 1.7256756837096248 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -588.2133246702967, + 511.89593282817657, + 1.7256756837096248 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -590.8114008816501, + 510.39593282817657, + 1.7256756837096248 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -593.4094770930035, + 508.89593282817657, + 1.7256756837096248 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -596.0075533043569, + 507.39593282817657, + 1.7256756837096248 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -598.6056295157102, + 505.89593282817657, + 1.7256756837096248 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -601.2037057270636, + 504.39593282817657, + 1.7256756837096248 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -603.801781938417, + 502.89593282817657, + 1.7256756837096248 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -606.3998581497704, + 501.39593282817657, + 1.7256756837096248 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -608.9979343611237, + 499.89593282817657, + 1.7256756837096248 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -611.5960105724771, + 498.39593282817657, + 1.7256756837096248 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -614.1940867838305, + 496.89593282817657, + 1.7256756837096248 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -616.7921629951838, + 495.39593282817657, + 1.7256756837096248 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -619.3902392065372, + 493.89593282817657, + 1.7256756837096248 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -621.9883154178906, + 492.39593282817657, + 1.7256756837096248 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -624.586391629244, + 490.89593282817657, + 1.7256756837096248 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -627.1844678405973, + 489.39593282817657, + 1.7256756837096248 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -629.7825440519507, + 487.89593282817657, + 1.7256756837096248 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -632.3806202633041, + 486.39593282817657, + 1.7256756837096248 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -634.9786964746575, + 484.89593282817657, + 1.7256756837096248 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -637.5767726860108, + 483.39593282817657, + 1.7256756837096248 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -639.5100476074218, + 482.8642652893066, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-27-48_2130794395/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-27-48_2130794395/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ee7837e0bf125f6c03308ea92e446360a74b8e43 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-27-48_2130794395/pose.jsonl @@ -0,0 +1,430 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 237.2272618348461, + 694.5330426570782, + 4.838543478932875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 235.7272618348461, + 697.1311188684315, + 4.838543478932875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 234.2272618348461, + 699.7291950797849, + 4.838543478932875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 232.7272618348461, + 702.3272712911382, + 4.838543478932875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 231.2272618348461, + 704.9253475024916, + 4.838543478932875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 229.7272618348461, + 707.523423713845, + 4.838543478932875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 228.2272618348461, + 710.1214999251983, + 4.838543478932875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 226.7272618348461, + 712.7195761365517, + 4.838543478932875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 225.2272618348461, + 715.3176523479051, + 4.838543478932875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 223.7272618348461, + 717.9157285592585, + 4.838543478932875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 222.2272618348461, + 720.5138047706118, + 4.838543478932875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 220.7272618348461, + 723.1118809819652, + 4.838543478932875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 219.2272618348461, + 725.7099571933186, + 4.838543478932875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 217.7272618348461, + 728.308033404672, + 4.838543478932875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 216.2272618348461, + 730.9061096160253, + 4.838543478932875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 214.7272618348461, + 733.5041858273787, + 4.838543478932875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 213.2272618348461, + 736.1022620387321, + 4.838543478932875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 211.7272618348461, + 738.7003382500855, + 4.838543478932875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 210.2272618348461, + 741.2984144614388, + 4.838543478932875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 208.7272618348461, + 743.8964906727922, + 4.838543478932875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 207.2272618348461, + 746.4945668841456, + 4.838543478932875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 205.7272618348461, + 749.0926430954989, + 4.838543478932875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 204.2272618348461, + 751.6907193068523, + 4.838543478932875 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 204.2272618348461, + 751.6907193068523, + 4.838543478932875 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 204.2272618348461, + 754.6907193068523, + 4.838543478932875 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 204.2272618348461, + 757.6907193068523, + 4.838543478932875 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 204.2272618348461, + 760.6907193068523, + 4.838543478932875 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 204.2272618348461, + 763.6907193068523, + 4.838543478932875 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 204.2272618348461, + 766.6907193068523, + 4.838543478932875 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 204.2272618348461, + 769.6907193068523, + 4.838543478932875 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 204.2272618348461, + 772.6907193068523, + 4.838543478932875 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 204.2272618348461, + 775.6907193068523, + 4.838543478932875 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 201.67972503662108, + 776.560556640625, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-33-23_1395235128/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-33-23_1395235128/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..77f847bb2c6c420cc892e3732ad23caf69613ede --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-33-23_1395235128/pose.jsonl @@ -0,0 +1,521 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -566.9088997970783, + -419.6311988816419, + -4.6205278889974295 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -566.9088997970783, + -416.6311988816419, + -4.6205278889974295 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -566.9088997970783, + -413.6311988816419, + -4.6205278889974295 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -566.9088997970783, + -410.6311988816419, + -4.6205278889974295 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -566.9088997970783, + -407.6311988816419, + -4.6205278889974295 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -566.9088997970783, + -404.6311988816419, + -4.6205278889974295 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -566.9088997970783, + -401.6311988816419, + -4.6205278889974295 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -566.9088997970783, + -398.6311988816419, + -4.6205278889974295 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -566.9088997970783, + -395.6311988816419, + -4.6205278889974295 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -566.9088997970783, + -392.6311988816419, + -4.6205278889974295 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -566.9088997970783, + -389.6311988816419, + -4.6205278889974295 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -566.9088997970783, + -386.6311988816419, + -4.6205278889974295 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -566.9088997970783, + -383.6311988816419, + -4.6205278889974295 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -566.9088997970783, + -380.6311988816419, + -4.6205278889974295 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -566.9088997970783, + -377.6311988816419, + -4.6205278889974295 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -566.9088997970783, + -374.6311988816419, + -4.6205278889974295 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -566.9088997970783, + -371.6311988816419, + -4.6205278889974295 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -566.9088997970783, + -368.6311988816419, + -4.6205278889974295 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -566.9088997970783, + -365.6311988816419, + -4.6205278889974295 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -566.9088997970783, + -362.6311988816419, + -4.6205278889974295 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -566.9088997970783, + -359.6311988816419, + -4.6205278889974295 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -566.9088997970783, + -356.6311988816419, + -4.6205278889974295 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -566.9088997970783, + -353.6311988816419, + -4.6205278889974295 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -566.9088997970783, + -350.6311988816419, + -4.6205278889974295 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -566.9088997970783, + -350.6311988816419, + -4.6205278889974295 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -565.4088997970783, + -348.0331226702886, + -4.6205278889974295 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -563.9088997970783, + -345.4350464589353, + -4.6205278889974295 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -562.4088997970783, + -342.836970247582, + -4.6205278889974295 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -560.9088997970783, + -340.23889403622866, + -4.6205278889974295 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -559.4088997970783, + -337.64081782487534, + -4.6205278889974295 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -557.9088997970783, + -335.042741613522, + -4.6205278889974295 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -556.4088997970783, + -332.4446654021687, + -4.6205278889974295 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -554.9088997970783, + -329.8465891908154, + -4.6205278889974295 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -553.4088997970783, + -327.2485129794621, + -4.6205278889974295 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -551.9088997970783, + -324.65043676810876, + -4.6205278889974295 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -550.4088997970783, + -322.05236055675545, + -4.6205278889974295 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -548.9088997970783, + -319.45428434540213, + -4.6205278889974295 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -547.4088997970783, + -316.8562081340488, + -4.6205278889974295 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -545.9088997970783, + -314.2581319226955, + -4.6205278889974295 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -545.8660174560547, + -312.8632476806641, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-35-19_496987743/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-35-19_496987743/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7637484c1a6c3832fe427c15a668d3199944c6b1 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-35-19_496987743/pose.jsonl @@ -0,0 +1,560 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -559.2649941438293, + -128.16060337274314, + -3.2229727560334522 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -556.2649941438293, + -128.16060337274314, + -3.2229727560334522 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -553.2649941438293, + -128.16060337274314, + -3.2229727560334522 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -550.2649941438293, + -128.16060337274314, + -3.2229727560334522 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -547.2649941438293, + -128.16060337274314, + -3.2229727560334522 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -544.2649941438293, + -128.16060337274314, + -3.2229727560334522 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -541.2649941438293, + -128.16060337274314, + -3.2229727560334522 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -538.2649941438293, + -128.16060337274314, + -3.2229727560334522 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -535.2649941438293, + -128.16060337274314, + -3.2229727560334522 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -532.2649941438293, + -128.16060337274314, + -3.2229727560334522 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -529.2649941438293, + -128.16060337274314, + -3.2229727560334522 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -526.2649941438293, + -128.16060337274314, + -3.2229727560334522 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -523.2649941438293, + -128.16060337274314, + -3.2229727560334522 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -520.2649941438293, + -128.16060337274314, + -3.2229727560334522 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -517.2649941438293, + -128.16060337274314, + -3.2229727560334522 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -514.2649941438293, + -128.16060337274314, + -3.2229727560334522 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -511.2649941438293, + -128.16060337274314, + -3.2229727560334522 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -508.2649941438293, + -128.16060337274314, + -3.2229727560334522 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -505.2649941438293, + -128.16060337274314, + -3.2229727560334522 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -505.2649941438293, + -128.16060337274314, + -3.2229727560334522 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -502.666917932476, + -129.66060337274314, + -3.2229727560334522 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -500.0688417211227, + -131.16060337274314, + -3.2229727560334522 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -497.47076550976936, + -132.66060337274314, + -3.2229727560334522 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -494.87268929841605, + -134.16060337274314, + -3.2229727560334522 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -492.27461308706273, + -135.66060337274314, + -3.2229727560334522 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -489.6765368757094, + -137.16060337274314, + -3.2229727560334522 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -487.0784606643561, + -138.66060337274314, + -3.2229727560334522 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -484.4803844530028, + -140.16060337274314, + -3.2229727560334522 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -481.88230824164947, + -141.66060337274314, + -3.2229727560334522 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -479.28423203029615, + -143.16060337274314, + -3.2229727560334522 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -476.68615581894284, + -144.66060337274314, + -3.2229727560334522 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -474.0880796075895, + -146.16060337274314, + -3.2229727560334522 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -471.4900033962362, + -147.66060337274314, + -3.2229727560334522 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -468.8919271848829, + -149.16060337274314, + -3.2229727560334522 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -466.2938509735296, + -150.66060337274314, + -3.2229727560334522 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -463.69577476217626, + -152.16060337274314, + -3.2229727560334522 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -461.09769855082294, + -153.66060337274314, + -3.2229727560334522 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -458.4996223394696, + -155.16060337274314, + -3.2229727560334522 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -455.9015461281163, + -156.66060337274314, + -3.2229727560334522 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -453.303469916763, + -158.16060337274314, + -3.2229727560334522 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -450.7053937054097, + -159.66060337274314, + -3.2229727560334522 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -448.10731749405636, + -161.16060337274314, + -3.2229727560334522 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -445.52278427124025, + -160.4525846862793, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-35-51_1359512183/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-35-51_1359512183/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e21f95ba424ec90f42cc975c730c02f4996a1c7c --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-35-51_1359512183/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -707.0179276575428, + 39.4639174255917, + -1.318008722277408 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -710.0179276575428, + 39.4639174255917, + -1.318008722277408 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -713.0179276575428, + 39.4639174255917, + -1.318008722277408 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -716.0179276575428, + 39.4639174255917, + -1.318008722277408 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -719.0179276575428, + 39.4639174255917, + -1.318008722277408 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -722.0179276575428, + 39.4639174255917, + -1.318008722277408 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -725.0179276575428, + 39.4639174255917, + -1.318008722277408 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -728.0179276575428, + 39.4639174255917, + -1.318008722277408 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -731.0179276575428, + 39.4639174255917, + -1.318008722277408 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -734.0179276575428, + 39.4639174255917, + -1.318008722277408 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -737.0179276575428, + 39.4639174255917, + -1.318008722277408 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -740.0179276575428, + 39.4639174255917, + -1.318008722277408 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -743.0179276575428, + 39.4639174255917, + -1.318008722277408 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -746.0179276575428, + 39.4639174255917, + -1.318008722277408 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -749.0179276575428, + 39.4639174255917, + -1.318008722277408 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -749.0179276575428, + 39.4639174255917, + -1.318008722277408 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -751.6160038688961, + 40.9639174255917, + -1.318008722277408 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -754.2140800802495, + 42.4639174255917, + -1.318008722277408 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -756.8121562916028, + 43.9639174255917, + -1.318008722277408 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -759.4102325029562, + 45.4639174255917, + -1.318008722277408 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -762.0083087143096, + 46.9639174255917, + -1.318008722277408 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -764.606384925663, + 48.4639174255917, + -1.318008722277408 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -767.2044611370163, + 49.9639174255917, + -1.318008722277408 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -768.8232287597656, + 49.617736358642574, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-38-11_1012502954/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-38-11_1012502954/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..63d8776ba8bf0d3ad42382298c4ae95bb2691a9e --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-38-11_1012502954/pose.jsonl @@ -0,0 +1,560 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -261.2724072019218, + -348.1406048339991, + 3.3988095877748865 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -261.2724072019218, + -351.1406048339991, + 3.3988095877748865 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -261.2724072019218, + -354.1406048339991, + 3.3988095877748865 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -261.2724072019218, + -357.1406048339991, + 3.3988095877748865 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -261.2724072019218, + -360.1406048339991, + 3.3988095877748865 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -261.2724072019218, + -363.1406048339991, + 3.3988095877748865 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -261.2724072019218, + -366.1406048339991, + 3.3988095877748865 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -261.2724072019218, + -369.1406048339991, + 3.3988095877748865 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -261.2724072019218, + -372.1406048339991, + 3.3988095877748865 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -261.2724072019218, + -375.1406048339991, + 3.3988095877748865 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -261.2724072019218, + -378.1406048339991, + 3.3988095877748865 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -261.2724072019218, + -381.1406048339991, + 3.3988095877748865 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -261.2724072019218, + -384.1406048339991, + 3.3988095877748865 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -261.2724072019218, + -387.1406048339991, + 3.3988095877748865 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -261.2724072019218, + -390.1406048339991, + 3.3988095877748865 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -261.2724072019218, + -393.1406048339991, + 3.3988095877748865 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -261.2724072019218, + -396.1406048339991, + 3.3988095877748865 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -261.2724072019218, + -399.1406048339991, + 3.3988095877748865 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -261.2724072019218, + -402.1406048339991, + 3.3988095877748865 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -261.2724072019218, + -405.1406048339991, + 3.3988095877748865 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -261.2724072019218, + -408.1406048339991, + 3.3988095877748865 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -261.2724072019218, + -411.1406048339991, + 3.3988095877748865 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -261.2724072019218, + -414.1406048339991, + 3.3988095877748865 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -261.2724072019218, + -417.1406048339991, + 3.3988095877748865 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -261.2724072019218, + -420.1406048339991, + 3.3988095877748865 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -261.2724072019218, + -423.1406048339991, + 3.3988095877748865 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -261.2724072019218, + -426.1406048339991, + 3.3988095877748865 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -261.2724072019218, + -429.1406048339991, + 3.3988095877748865 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -261.2724072019218, + -432.1406048339991, + 3.3988095877748865 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -261.2724072019218, + -435.1406048339991, + 3.3988095877748865 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -261.2724072019218, + -438.1406048339991, + 3.3988095877748865 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -261.2724072019218, + -441.1406048339991, + 3.3988095877748865 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -261.2724072019218, + -441.1406048339991, + 3.3988095877748865 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -262.7724072019218, + -443.7386810453524, + 3.3988095877748865 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -264.2724072019218, + -446.3367572567057, + 3.3988095877748865 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -265.7724072019218, + -448.934833468059, + 3.3988095877748865 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -267.2724072019218, + -451.53290967941234, + 3.3988095877748865 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -268.7724072019218, + -454.13098589076566, + 3.3988095877748865 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -270.2724072019218, + -456.729062102119, + 3.3988095877748865 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -270.2724072019218, + -456.729062102119, + 3.3988095877748865 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -270.2724072019218, + -459.729062102119, + 3.3988095877748865 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -270.2724072019218, + -462.729062102119, + 3.3988095877748865 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -270.6246540832519, + -464.87673126220704, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-4-43_1975960378/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-4-43_1975960378/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b357614cb0b72b419eeafa600b79374578608b6e --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-4-43_1975960378/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 196.4915694582061, + 708.827518332659, + 1.9436215181289906 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 196.4915694582061, + 711.827518332659, + 1.9436215181289906 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 196.4915694582061, + 714.827518332659, + 1.9436215181289906 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 196.4915694582061, + 717.827518332659, + 1.9436215181289906 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 196.4915694582061, + 720.827518332659, + 1.9436215181289906 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 196.4915694582061, + 723.827518332659, + 1.9436215181289906 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 196.4915694582061, + 726.827518332659, + 1.9436215181289906 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 196.4915694582061, + 729.827518332659, + 1.9436215181289906 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 196.4915694582061, + 732.827518332659, + 1.9436215181289906 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 196.4915694582061, + 735.827518332659, + 1.9436215181289906 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 196.4915694582061, + 738.827518332659, + 1.9436215181289906 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 196.4915694582061, + 741.827518332659, + 1.9436215181289906 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 196.4915694582061, + 744.827518332659, + 1.9436215181289906 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 196.4915694582061, + 747.827518332659, + 1.9436215181289906 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 196.4915694582061, + 750.827518332659, + 1.9436215181289906 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 196.4915694582061, + 753.827518332659, + 1.9436215181289906 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 196.4915694582061, + 756.827518332659, + 1.9436215181289906 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 196.4915694582061, + 759.827518332659, + 1.9436215181289906 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 196.4915694582061, + 762.827518332659, + 1.9436215181289906 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 196.4915694582061, + 765.827518332659, + 1.9436215181289906 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 196.4915694582061, + 768.827518332659, + 1.9436215181289906 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 196.4915694582061, + 768.827518332659, + 1.9436215181289906 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 197.9915694582061, + 771.4255945440123, + 1.9436215181289906 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 199.4915694582061, + 774.0236707553656, + 1.9436215181289906 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965883 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 201.67972503662108, + 776.560556640625, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-40-54_1789376348/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-40-54_1789376348/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3bf3ced5ab081d312cdb28212a13b267fa520957 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-40-54_1789376348/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 194.28778635042173, + 625.8327767421365, + 1.343724627753046 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 195.78778635042173, + 628.4308529534899, + 1.343724627753046 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 197.28778635042173, + 631.0289291648432, + 1.343724627753046 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 198.78778635042173, + 633.6270053761966, + 1.343724627753046 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 200.28778635042173, + 636.22508158755, + 1.343724627753046 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 201.78778635042173, + 638.8231577989034, + 1.343724627753046 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 203.28778635042173, + 641.4212340102567, + 1.343724627753046 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 204.78778635042173, + 644.0193102216101, + 1.343724627753046 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 206.28778635042173, + 646.6173864329635, + 1.343724627753046 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 207.78778635042173, + 649.2154626443169, + 1.343724627753046 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 209.28778635042173, + 651.8135388556702, + 1.343724627753046 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 210.78778635042173, + 654.4116150670236, + 1.343724627753046 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 212.28778635042173, + 657.009691278377, + 1.343724627753046 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 213.78778635042173, + 659.6077674897303, + 1.343724627753046 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 215.28778635042173, + 662.2058437010837, + 1.343724627753046 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 216.78778635042173, + 664.8039199124371, + 1.343724627753046 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 218.28778635042173, + 667.4019961237905, + 1.343724627753046 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 219.78778635042173, + 670.0000723351438, + 1.343724627753046 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 221.28778635042173, + 672.5981485464972, + 1.343724627753046 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 221.28778635042173, + 672.5981485464972, + 1.343724627753046 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 221.28778635042173, + 675.5981485464972, + 1.343724627753046 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 221.28778635042173, + 678.5981485464972, + 1.343724627753046 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 221.28778635042173, + 681.5981485464972, + 1.343724627753046 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 221.28778635042173, + 684.5981485464972, + 1.343724627753046 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 221.28778635042173, + 687.5981485464972, + 1.343724627753046 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 222.9949237060547, + 690.6306562805175, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-42-33_392035568/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-42-33_392035568/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f47a1aa1056ca986dafa1ca2002190bb1eefc2dd --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-42-33_392035568/pose.jsonl @@ -0,0 +1,560 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -757.8864138525277, + 336.64690213405083, + 0.10801587296441095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -756.3864138525277, + 334.0488259226975, + 0.10801587296441095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -754.8864138525277, + 331.4507497113442, + 0.10801587296441095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -753.3864138525277, + 328.8526734999909, + 0.10801587296441095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -751.8864138525277, + 326.25459728863757, + 0.10801587296441095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -750.3864138525277, + 323.65652107728425, + 0.10801587296441095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -748.8864138525277, + 321.05844486593094, + 0.10801587296441095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -747.3864138525277, + 318.4603686545776, + 0.10801587296441095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -745.8864138525277, + 315.8622924432243, + 0.10801587296441095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -744.3864138525277, + 313.264216231871, + 0.10801587296441095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -742.8864138525277, + 310.6661400205177, + 0.10801587296441095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -741.3864138525277, + 308.06806380916436, + 0.10801587296441095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -739.8864138525277, + 305.46998759781104, + 0.10801587296441095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -738.3864138525277, + 302.8719113864577, + 0.10801587296441095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -736.8864138525277, + 300.2738351751044, + 0.10801587296441095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -735.3864138525277, + 297.6757589637511, + 0.10801587296441095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -733.8864138525277, + 295.0776827523978, + 0.10801587296441095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -732.3864138525277, + 292.47960654104446, + 0.10801587296441095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -730.8864138525277, + 289.88153032969115, + 0.10801587296441095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -729.3864138525277, + 287.28345411833783, + 0.10801587296441095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -727.8864138525277, + 284.6853779069845, + 0.10801587296441095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -726.3864138525277, + 282.0873016956312, + 0.10801587296441095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -724.8864138525277, + 279.4892254842779, + 0.10801587296441095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -723.3864138525277, + 276.89114927292457, + 0.10801587296441095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -721.8864138525277, + 274.29307306157125, + 0.10801587296441095 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -721.8864138525277, + 274.29307306157125, + 0.10801587296441095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -721.8864138525277, + 271.29307306157125, + 0.10801587296441095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -721.8864138525277, + 268.29307306157125, + 0.10801587296441095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -721.8864138525277, + 265.29307306157125, + 0.10801587296441095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -721.8864138525277, + 262.29307306157125, + 0.10801587296441095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -721.8864138525277, + 259.29307306157125, + 0.10801587296441095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -721.8864138525277, + 256.29307306157125, + 0.10801587296441095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -721.8864138525277, + 253.29307306157125, + 0.10801587296441095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -721.8864138525277, + 250.29307306157125, + 0.10801587296441095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -721.8864138525277, + 247.29307306157125, + 0.10801587296441095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -721.8864138525277, + 244.29307306157125, + 0.10801587296441095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -721.8864138525277, + 241.29307306157125, + 0.10801587296441095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -721.8864138525277, + 238.29307306157125, + 0.10801587296441095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -721.8864138525277, + 235.29307306157125, + 0.10801587296441095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -721.8864138525277, + 232.29307306157125, + 0.10801587296441095 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -721.8864138525277, + 232.29307306157125, + 0.10801587296441095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -720.3864138525277, + 229.69499685021793, + 0.10801587296441095 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -719.2420056152343, + 225.9435828399658, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-42-4_654887343/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-42-4_654887343/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b81e161b143667bcc089223e49326b406c52a3ae --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-42-4_654887343/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -485.91556577797087, + -8.851052724951934, + -4.044969473471056 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -483.31748956661755, + -7.351052724951934, + -4.044969473471056 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -480.71941335526424, + -5.851052724951934, + -4.044969473471056 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -478.1213371439109, + -4.351052724951934, + -4.044969473471056 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -475.5232609325576, + -2.851052724951934, + -4.044969473471056 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -472.9251847212043, + -1.3510527249519344, + -4.044969473471056 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -470.327108509851, + 0.14894727504806538, + -4.044969473471056 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -467.72903229849766, + 1.6489472750480652, + -4.044969473471056 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -465.13095608714434, + 3.148947275048065, + -4.044969473471056 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -462.532879875791, + 4.648947275048065, + -4.044969473471056 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -459.9348036644377, + 6.148947275048065, + -4.044969473471056 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -457.3367274530844, + 7.648947275048065, + -4.044969473471056 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -454.7386512417311, + 9.148947275048064, + -4.044969473471056 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982986 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -452.14057503037776, + 10.648947275048064, + -4.044969473471056 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -449.54249881902444, + 12.148947275048064, + -4.044969473471056 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -446.94442260767113, + 13.648947275048064, + -4.044969473471056 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -444.3463463963178, + 15.148947275048064, + -4.044969473471056 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -444.3463463963178, + 15.148947275048064, + -4.044969473471056 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -442.8463463963178, + 17.747023486401382, + -4.044969473471056 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196598 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -441.3463463963178, + 20.345099697754698, + -4.044969473471056 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -439.8463463963178, + 22.943175909108014, + -4.044969473471056 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -438.3463463963178, + 25.54125212046133, + -4.044969473471056 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -436.8463463963178, + 28.139328331814646, + -4.044969473471056 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -431.4943495178223, + 32.88219102859497, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-48-57_846930886/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-48-57_846930886/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8a55e887af6228a97afa2fa95acd8514ac428fce --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-48-57_846930886/pose.jsonl @@ -0,0 +1,378 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -923.2238780775712, + 293.0494617875576, + -1.2302683439825541 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -925.8219542889244, + 291.5494617875576, + -1.2302683439825541 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -928.4200305002778, + 290.0494617875576, + -1.2302683439825541 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -931.0181067116312, + 288.5494617875576, + -1.2302683439825541 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -933.6161829229845, + 287.0494617875576, + -1.2302683439825541 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -936.2142591343379, + 285.5494617875576, + -1.2302683439825541 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -938.8123353456913, + 284.0494617875576, + -1.2302683439825541 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -941.4104115570447, + 282.5494617875576, + -1.2302683439825541 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -944.008487768398, + 281.0494617875576, + -1.2302683439825541 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -946.6065639797514, + 279.5494617875576, + -1.2302683439825541 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -949.2046401911048, + 278.0494617875576, + -1.2302683439825541 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -951.8027164024581, + 276.5494617875576, + -1.2302683439825541 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -954.4007926138115, + 275.0494617875576, + -1.2302683439825541 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -956.9988688251649, + 273.5494617875576, + -1.2302683439825541 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -959.5969450365183, + 272.0494617875576, + -1.2302683439825541 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -959.5969450365183, + 272.0494617875576, + -1.2302683439825541 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -961.0969450365183, + 269.4513855762043, + -1.2302683439825541 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -962.5969450365183, + 266.853309364851, + -1.2302683439825541 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -964.0969450365183, + 264.25523315349767, + -1.2302683439825541 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -965.5969450365183, + 261.65715694214435, + -1.2302683439825541 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -967.0969450365183, + 259.05908073079104, + -1.2302683439825541 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -968.5969450365183, + 256.4610045194377, + -1.2302683439825541 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -970.0969450365183, + 253.8629283080844, + -1.2302683439825541 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -971.5969450365183, + 251.2648520967311, + -1.2302683439825541 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -973.0969450365183, + 248.66677588537777, + -1.2302683439825541 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -974.5969450365183, + 246.06869967402446, + -1.2302683439825541 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -976.0969450365183, + 243.47062346267114, + -1.2302683439825541 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -977.5969450365183, + 240.87254725131783, + -1.2302683439825541 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -978.6087219238281, + 239.76509559631347, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-8-8_1194953865/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-8-8_1194953865/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d1282f99704c31ea50e8c580c726e0e910783691 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-8-8_1194953865/pose.jsonl @@ -0,0 +1,469 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 454.5855745345958, + 466.1811035471739, + -1.8583883952846625 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 454.5855745345958, + 469.1811035471739, + -1.8583883952846625 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 454.5855745345958, + 472.1811035471739, + -1.8583883952846625 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 454.5855745345958, + 475.1811035471739, + -1.8583883952846625 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 454.5855745345958, + 478.1811035471739, + -1.8583883952846625 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 454.5855745345958, + 481.1811035471739, + -1.8583883952846625 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 454.5855745345958, + 484.1811035471739, + -1.8583883952846625 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 454.5855745345958, + 487.1811035471739, + -1.8583883952846625 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 454.5855745345958, + 490.1811035471739, + -1.8583883952846625 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 454.5855745345958, + 493.1811035471739, + -1.8583883952846625 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 454.5855745345958, + 496.1811035471739, + -1.8583883952846625 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 454.5855745345958, + 499.1811035471739, + -1.8583883952846625 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 454.5855745345958, + 502.1811035471739, + -1.8583883952846625 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 454.5855745345958, + 505.1811035471739, + -1.8583883952846625 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 454.5855745345958, + 508.1811035471739, + -1.8583883952846625 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 454.5855745345958, + 511.1811035471739, + -1.8583883952846625 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 454.5855745345958, + 514.181103547174, + -1.8583883952846625 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 454.5855745345958, + 517.181103547174, + -1.8583883952846625 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 454.5855745345958, + 520.181103547174, + -1.8583883952846625 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 454.5855745345958, + 523.181103547174, + -1.8583883952846625 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 454.5855745345958, + 526.181103547174, + -1.8583883952846625 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 454.5855745345958, + 529.181103547174, + -1.8583883952846625 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 454.5855745345958, + 532.181103547174, + -1.8583883952846625 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 454.5855745345958, + 535.181103547174, + -1.8583883952846625 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 454.5855745345958, + 538.181103547174, + -1.8583883952846625 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 454.5855745345958, + 541.181103547174, + -1.8583883952846625 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 454.5855745345958, + 541.181103547174, + -1.8583883952846625 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 453.0855745345958, + 543.7791797585273, + -1.8583883952846625 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 451.5855745345958, + 546.3772559698807, + -1.8583883952846625 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 450.0855745345958, + 548.9753321812341, + -1.8583883952846625 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 448.5855745345958, + 551.5734083925875, + -1.8583883952846625 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 447.0855745345958, + 554.1714846039408, + -1.8583883952846625 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 445.5855745345958, + 556.7695608152942, + -1.8583883952846625 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 444.0855745345958, + 559.3676370266476, + -1.8583883952846625 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 442.5855745345958, + 561.965713238001, + -1.8583883952846625 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 439.84950744628907, + 563.3985629272461, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_20-25-48_719885386/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_20-25-48_719885386/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f0850ca9b9d69f5652c9be23d1019d770b84667e --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_20-25-48_719885386/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -723.7953732432012, + 316.25818220975026, + -0.038473839602009896 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -721.1972970318479, + 314.75818220975026, + -0.038473839602009896 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -718.5992208204946, + 313.25818220975026, + -0.038473839602009896 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -716.0011446091412, + 311.75818220975026, + -0.038473839602009896 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -713.4030683977878, + 310.25818220975026, + -0.038473839602009896 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -710.8049921864344, + 308.75818220975026, + -0.038473839602009896 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -708.2069159750811, + 307.25818220975026, + -0.038473839602009896 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -705.6088397637277, + 305.75818220975026, + -0.038473839602009896 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -703.0107635523743, + 304.25818220975026, + -0.038473839602009896 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -700.412687341021, + 302.75818220975026, + -0.038473839602009896 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -697.8146111296676, + 301.25818220975026, + -0.038473839602009896 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -695.2165349183142, + 299.75818220975026, + -0.038473839602009896 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -692.6184587069608, + 298.25818220975026, + -0.038473839602009896 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -690.0203824956075, + 296.75818220975026, + -0.038473839602009896 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -687.4223062842541, + 295.25818220975026, + -0.038473839602009896 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -684.8242300729007, + 293.75818220975026, + -0.038473839602009896 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -682.2261538615473, + 292.25818220975026, + -0.038473839602009896 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -679.628077650194, + 290.75818220975026, + -0.038473839602009896 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -679.628077650194, + 290.75818220975026, + -0.038473839602009896 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -678.128077650194, + 288.16010599839694, + -0.038473839602009896 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -676.628077650194, + 285.5620297870436, + -0.038473839602009896 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -675.128077650194, + 282.9639535756903, + -0.038473839602009896 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -673.628077650194, + 280.365877364337, + -0.038473839602009896 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -672.128077650194, + 277.7678011529837, + -0.038473839602009896 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -669.1686190795898, + 276.07490257263186, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_20-28-38_1540383426/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_20-28-38_1540383426/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..242f4fbf151d5abc2cc2a4559b24ff9eab1a697a --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_20-28-38_1540383426/pose.jsonl @@ -0,0 +1,417 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 151.39994319630767, + 658.4662358026262, + -0.7966486739512737 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 154.39994319630767, + 658.4662358026262, + -0.7966486739512737 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 157.39994319630767, + 658.4662358026262, + -0.7966486739512737 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 160.39994319630767, + 658.4662358026262, + -0.7966486739512737 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 163.39994319630767, + 658.4662358026262, + -0.7966486739512737 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 163.39994319630767, + 658.4662358026262, + -0.7966486739512737 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 165.998019407661, + 659.9662358026262, + -0.7966486739512737 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 168.5960956190143, + 661.4662358026262, + -0.7966486739512737 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 171.19417183036762, + 662.9662358026262, + -0.7966486739512737 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 173.79224804172094, + 664.4662358026262, + -0.7966486739512737 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 176.39032425307425, + 665.9662358026262, + -0.7966486739512737 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 178.98840046442757, + 667.4662358026262, + -0.7966486739512737 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 181.5864766757809, + 668.9662358026262, + -0.7966486739512737 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 184.1845528871342, + 670.4662358026262, + -0.7966486739512737 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 186.78262909848752, + 671.9662358026262, + -0.7966486739512737 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 189.38070530984083, + 673.4662358026262, + -0.7966486739512737 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 191.97878152119415, + 674.9662358026262, + -0.7966486739512737 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 194.57685773254747, + 676.4662358026262, + -0.7966486739512737 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 197.17493394390078, + 677.9662358026262, + -0.7966486739512737 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 199.7730101552541, + 679.4662358026262, + -0.7966486739512737 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 202.37108636660741, + 680.9662358026262, + -0.7966486739512737 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 204.96916257796073, + 682.4662358026262, + -0.7966486739512737 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 207.56723878931405, + 683.9662358026262, + -0.7966486739512737 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 210.16531500066736, + 685.4662358026262, + -0.7966486739512737 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 212.76339121202068, + 686.9662358026262, + -0.7966486739512737 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 215.361467423374, + 688.4662358026262, + -0.7966486739512737 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 217.9595436347273, + 689.9662358026262, + -0.7966486739512737 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 220.55761984608063, + 691.4662358026262, + -0.7966486739512737 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 220.55761984608063, + 691.4662358026262, + -0.7966486739512737 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 223.55761984608063, + 691.4662358026262, + -0.7966486739512737 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 226.55761984608063, + 691.4662358026262, + -0.7966486739512737 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 229.7172834777832, + 692.2608906555175, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_20-31-30_233665123/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_20-31-30_233665123/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d70451e4ad9f03e9d75afe665486d46b1b5c639f --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_20-31-30_233665123/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -550.2658373713384, + -171.66039926923304, + -3.576583025524493 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -548.7658373713384, + -174.25847548058636, + -3.576583025524493 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -547.2658373713384, + -176.85655169193967, + -3.576583025524493 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -545.7658373713384, + -179.454627903293, + -3.576583025524493 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -544.2658373713384, + -182.0527041146463, + -3.576583025524493 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -542.7658373713384, + -184.65078032599962, + -3.576583025524493 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -541.2658373713384, + -187.24885653735294, + -3.576583025524493 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -539.7658373713384, + -189.84693274870625, + -3.576583025524493 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -538.2658373713384, + -192.44500896005957, + -3.576583025524493 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -536.7658373713384, + -195.04308517141288, + -3.576583025524493 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -535.2658373713384, + -197.6411613827662, + -3.576583025524493 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -533.7658373713384, + -200.23923759411952, + -3.576583025524493 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -532.2658373713384, + -202.83731380547283, + -3.576583025524493 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -530.7658373713384, + -205.43539001682615, + -3.576583025524493 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -530.7658373713384, + -205.43539001682615, + -3.576583025524493 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -528.167761159985, + -206.93539001682615, + -3.576583025524493 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -525.5696849486317, + -208.43539001682615, + -3.576583025524493 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -522.9716087372783, + -209.93539001682615, + -3.576583025524493 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -520.3735325259249, + -211.43539001682615, + -3.576583025524493 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -517.7754563145716, + -212.93539001682615, + -3.576583025524493 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -515.1773801032182, + -214.43539001682615, + -3.576583025524493 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -512.5793038918648, + -215.93539001682615, + -3.576583025524493 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -509.9812276805115, + -217.43539001682615, + -3.576583025524493 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -510.5901588439941, + -220.83477218627928, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_20-31-43_2145174067/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_20-31-43_2145174067/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c8a9a3b4db6f6632195dc3e4c0ff3e1cfd11c68e --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_20-31-43_2145174067/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -73.56167590635992, + 703.8790906881266, + 4.736508697090997 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -70.56167590635992, + 703.8790906881266, + 4.736508697090997 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -67.56167590635992, + 703.8790906881266, + 4.736508697090997 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -64.56167590635992, + 703.8790906881266, + 4.736508697090997 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -61.56167590635992, + 703.8790906881266, + 4.736508697090997 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -58.56167590635992, + 703.8790906881266, + 4.736508697090997 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -55.56167590635992, + 703.8790906881266, + 4.736508697090997 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -52.56167590635992, + 703.8790906881266, + 4.736508697090997 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -49.56167590635992, + 703.8790906881266, + 4.736508697090997 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -46.56167590635992, + 703.8790906881266, + 4.736508697090997 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -43.56167590635992, + 703.8790906881266, + 4.736508697090997 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -40.56167590635992, + 703.8790906881266, + 4.736508697090997 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -37.56167590635992, + 703.8790906881266, + 4.736508697090997 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -34.56167590635992, + 703.8790906881266, + 4.736508697090997 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -31.561675906359923, + 703.8790906881266, + 4.736508697090997 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -28.561675906359923, + 703.8790906881266, + 4.736508697090997 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -28.561675906359923, + 703.8790906881266, + 4.736508697090997 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -25.963599695006607, + 702.3790906881266, + 4.736508697090997 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -23.36552348365329, + 700.8790906881266, + 4.736508697090997 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -20.767447272299975, + 699.3790906881266, + 4.736508697090997 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -18.16937106094666, + 697.8790906881266, + 4.736508697090997 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -15.571294849593343, + 696.3790906881266, + 4.736508697090997 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -12.973218638240027, + 694.8790906881266, + 4.736508697090997 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -10.375142426886711, + 693.3790906881266, + 4.736508697090997 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -7.777066215533395, + 691.8790906881266, + 4.736508697090997 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -5.930885200500488, + 691.5702409362793, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_20-33-48_1059961393/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_20-33-48_1059961393/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cab8e154bbe58a4aa459057c0ed72b32997a63ec --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_20-33-48_1059961393/pose.jsonl @@ -0,0 +1,482 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -607.5488677023046, + -192.05335578207337, + -2.3060727824019684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -604.5488677023046, + -192.05335578207337, + -2.3060727824019684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -601.5488677023046, + -192.05335578207337, + -2.3060727824019684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -598.5488677023046, + -192.05335578207337, + -2.3060727824019684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -595.5488677023046, + -192.05335578207337, + -2.3060727824019684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -592.5488677023046, + -192.05335578207337, + -2.3060727824019684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -589.5488677023046, + -192.05335578207337, + -2.3060727824019684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -586.5488677023046, + -192.05335578207337, + -2.3060727824019684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -583.5488677023046, + -192.05335578207337, + -2.3060727824019684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -580.5488677023046, + -192.05335578207337, + -2.3060727824019684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -577.5488677023046, + -192.05335578207337, + -2.3060727824019684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -574.5488677023046, + -192.05335578207337, + -2.3060727824019684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -571.5488677023046, + -192.05335578207337, + -2.3060727824019684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -568.5488677023046, + -192.05335578207337, + -2.3060727824019684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -565.5488677023046, + -192.05335578207337, + -2.3060727824019684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -562.5488677023046, + -192.05335578207337, + -2.3060727824019684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -559.5488677023046, + -192.05335578207337, + -2.3060727824019684 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -559.5488677023046, + -192.05335578207337, + -2.3060727824019684 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -556.9507914909514, + -193.55335578207337, + -2.3060727824019684 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -554.352715279598, + -195.05335578207337, + -2.3060727824019684 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -551.7546390682446, + -196.55335578207337, + -2.3060727824019684 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -549.1565628568912, + -198.05335578207337, + -2.3060727824019684 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -546.5584866455379, + -199.55335578207337, + -2.3060727824019684 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -543.9604104341845, + -201.05335578207337, + -2.3060727824019684 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -541.3623342228311, + -202.55335578207337, + -2.3060727824019684 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -538.7642580114778, + -204.05335578207337, + -2.3060727824019684 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -536.1661818001244, + -205.55335578207337, + -2.3060727824019684 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -533.568105588771, + -207.05335578207337, + -2.3060727824019684 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -530.9700293774176, + -208.55335578207337, + -2.3060727824019684 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -528.3719531660643, + -210.05335578207337, + -2.3060727824019684 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -525.7738769547109, + -211.55335578207337, + -2.3060727824019684 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -523.1758007433575, + -213.05335578207337, + -2.3060727824019684 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -520.5777245320041, + -214.55335578207337, + -2.3060727824019684 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -517.9796483206508, + -216.05335578207337, + -2.3060727824019684 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -515.3815721092974, + -217.55335578207337, + -2.3060727824019684 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -512.783495897944, + -219.05335578207337, + -2.3060727824019684 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -510.5901588439941, + -220.83477218627928, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_20-37-16_2038664370/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_20-37-16_2038664370/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5ac44007a7f14b1ca226b2ad94e67ab8e2e47184 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_20-37-16_2038664370/pose.jsonl @@ -0,0 +1,222 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -864.3871896456501, + 271.9155382308555, + 4.821610497057126 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -861.3871896456501, + 271.9155382308555, + 4.821610497057126 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -858.3871896456501, + 271.9155382308555, + 4.821610497057126 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -855.3871896456501, + 271.9155382308555, + 4.821610497057126 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -852.3871896456501, + 271.9155382308555, + 4.821610497057126 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -849.3871896456501, + 271.9155382308555, + 4.821610497057126 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -846.3871896456501, + 271.9155382308555, + 4.821610497057126 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -843.3871896456501, + 271.9155382308555, + 4.821610497057126 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -840.3871896456501, + 271.9155382308555, + 4.821610497057126 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -840.3871896456501, + 271.9155382308555, + 4.821610497057126 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -840.3871896456501, + 271.9155382308555, + 4.821610497057126 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -838.8871896456501, + 274.5136144422088, + 4.821610497057126 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -837.3871896456501, + 277.1116906535621, + 4.821610497057126 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -837.3871896456501, + 277.1116906535621, + 4.821610497057126 + ], + "type": "turn right", + "value": 30, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -837.3871896456501, + 277.1116906535621, + 4.821610497057126 + ], + "type": "go straight", + "value": 3, + "yaw": 2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -834.3871896456501, + 277.1116906535621, + 4.821610497057126 + ], + "type": "stop", + "value": 0, + "yaw": 2.220446049250313e-16 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -802.5129748535156, + 284.37975662231446, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_20-40-31_2084420925/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_20-40-31_2084420925/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ac18d05d974f5ac17743cca440016be8816166cf --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_20-40-31_2084420925/pose.jsonl @@ -0,0 +1,482 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -330.0664848786555, + 29.214323994716548, + 1.277770854511373 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -327.0664848786555, + 29.214323994716548, + 1.277770854511373 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -324.0664848786555, + 29.214323994716548, + 1.277770854511373 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -321.0664848786555, + 29.214323994716548, + 1.277770854511373 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -318.0664848786555, + 29.214323994716548, + 1.277770854511373 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -315.0664848786555, + 29.214323994716548, + 1.277770854511373 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -312.0664848786555, + 29.214323994716548, + 1.277770854511373 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -309.0664848786555, + 29.214323994716548, + 1.277770854511373 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -306.0664848786555, + 29.214323994716548, + 1.277770854511373 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -306.0664848786555, + 29.214323994716548, + 1.277770854511373 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -303.4684086673022, + 27.714323994716548, + 1.277770854511373 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -303.4684086673022, + 27.714323994716548, + 1.277770854511373 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -301.9684086673022, + 25.11624778336323, + 1.277770854511373 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -301.9684086673022, + 25.11624778336323, + 1.277770854511373 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -299.37033245594887, + 23.61624778336323, + 1.277770854511373 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -296.77225624459555, + 22.11624778336323, + 1.277770854511373 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -294.17418003324224, + 20.61624778336323, + 1.277770854511373 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -291.5761038218889, + 19.11624778336323, + 1.277770854511373 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -288.9780276105356, + 17.61624778336323, + 1.277770854511373 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -286.3799513991823, + 16.11624778336323, + 1.277770854511373 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -283.781875187829, + 14.616247783363232, + 1.277770854511373 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -281.18379897647566, + 13.116247783363232, + 1.277770854511373 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -278.58572276512234, + 11.616247783363232, + 1.277770854511373 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -275.987646553769, + 10.116247783363232, + 1.277770854511373 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -273.3895703424157, + 8.616247783363232, + 1.277770854511373 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -270.7914941310624, + 7.116247783363232, + 1.277770854511373 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -268.1934179197091, + 5.616247783363232, + 1.277770854511373 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -265.59534170835576, + 4.116247783363232, + 1.277770854511373 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -262.99726549700245, + 2.6162477833632316, + 1.277770854511373 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -260.39918928564913, + 1.1162477833632318, + 1.277770854511373 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -257.8011130742958, + -0.38375221663676795, + 1.277770854511373 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -255.2030368629425, + -1.8837522166367677, + 1.277770854511373 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -252.60496065158918, + -3.3837522166367675, + 1.277770854511373 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -250.00688444023586, + -4.8837522166367675, + 1.277770854511373 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -247.40880822888255, + -6.3837522166367675, + 1.277770854511373 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -244.81073201752923, + -7.8837522166367675, + 1.277770854511373 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -242.29689208984374, + -10.230338129997254, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_20-46-54_709393584/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_20-46-54_709393584/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6d096198ca0d284c883a2ba8f5428afd77ebf959 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_20-46-54_709393584/pose.jsonl @@ -0,0 +1,417 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 344.84393715777196, + 749.6246924611436, + 4.170543457237915 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 343.34393715777196, + 747.0266162497903, + 4.170543457237915 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 341.84393715777196, + 744.428540038437, + 4.170543457237915 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 340.34393715777196, + 741.8304638270836, + 4.170543457237915 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 338.84393715777196, + 739.2323876157302, + 4.170543457237915 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 337.34393715777196, + 736.6343114043768, + 4.170543457237915 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 335.84393715777196, + 734.0362351930235, + 4.170543457237915 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 334.34393715777196, + 731.4381589816701, + 4.170543457237915 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 332.84393715777196, + 728.8400827703167, + 4.170543457237915 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 331.34393715777196, + 726.2420065589633, + 4.170543457237915 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 329.84393715777196, + 723.64393034761, + 4.170543457237915 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 328.34393715777196, + 721.0458541362566, + 4.170543457237915 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 326.84393715777196, + 718.4477779249032, + 4.170543457237915 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 325.34393715777196, + 715.8497017135498, + 4.170543457237915 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 323.84393715777196, + 713.2516255021965, + 4.170543457237915 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 322.34393715777196, + 710.6535492908431, + 4.170543457237915 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 320.84393715777196, + 708.0554730794897, + 4.170543457237915 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 319.34393715777196, + 705.4573968681364, + 4.170543457237915 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 317.84393715777196, + 702.859320656783, + 4.170543457237915 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 316.34393715777196, + 700.2612444454296, + 4.170543457237915 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 314.84393715777196, + 697.6631682340762, + 4.170543457237915 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 313.34393715777196, + 695.0650920227229, + 4.170543457237915 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 311.84393715777196, + 692.4670158113695, + 4.170543457237915 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 310.34393715777196, + 689.8689396000161, + 4.170543457237915 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 308.84393715777196, + 687.2708633886627, + 4.170543457237915 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 308.84393715777196, + 687.2708633886627, + 4.170543457237915 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 308.84393715777196, + 684.2708633886627, + 4.170543457237915 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 308.84393715777196, + 681.2708633886627, + 4.170543457237915 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 308.84393715777196, + 678.2708633886627, + 4.170543457237915 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 308.84393715777196, + 675.2708633886627, + 4.170543457237915 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 308.84393715777196, + 672.2708633886627, + 4.170543457237915 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 307.503537902832, + 668.8986363220215, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_20-50-17_1749698586/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_20-50-17_1749698586/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..89e6482ad505f442c55cc534b0cadb3c574cfd7d --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_20-50-17_1749698586/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -356.60453213390133, + 667.0683828869195, + -4.561510688887936 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -356.60453213390133, + 670.0683828869195, + -4.561510688887936 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -356.60453213390133, + 673.0683828869195, + -4.561510688887936 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -356.60453213390133, + 676.0683828869195, + -4.561510688887936 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -356.60453213390133, + 679.0683828869195, + -4.561510688887936 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -356.60453213390133, + 682.0683828869195, + -4.561510688887936 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -356.60453213390133, + 685.0683828869195, + -4.561510688887936 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -356.60453213390133, + 688.0683828869195, + -4.561510688887936 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -356.60453213390133, + 691.0683828869195, + -4.561510688887936 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -356.60453213390133, + 694.0683828869195, + -4.561510688887936 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -356.60453213390133, + 697.0683828869195, + -4.561510688887936 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -356.60453213390133, + 700.0683828869195, + -4.561510688887936 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -356.60453213390133, + 703.0683828869195, + -4.561510688887936 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -356.60453213390133, + 706.0683828869195, + -4.561510688887936 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -356.60453213390133, + 709.0683828869195, + -4.561510688887936 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -356.60453213390133, + 712.0683828869195, + -4.561510688887936 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -356.60453213390133, + 715.0683828869195, + -4.561510688887936 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -356.60453213390133, + 718.0683828869195, + -4.561510688887936 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -356.60453213390133, + 721.0683828869195, + -4.561510688887936 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -356.60453213390133, + 724.0683828869195, + -4.561510688887936 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -356.60453213390133, + 727.0683828869195, + -4.561510688887936 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -356.60453213390133, + 727.0683828869195, + -4.561510688887936 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -355.10453213390133, + 729.6664590982728, + -4.561510688887936 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -353.60453213390133, + 732.2645353096261, + -4.561510688887936 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -352.10453213390133, + 734.8626115209795, + -4.561510688887936 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -350.60453213390133, + 737.4606877323329, + -4.561510688887936 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -349.10453213390133, + 740.0587639436862, + -4.561510688887936 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -349.92333297729493, + 742.416524963379, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_20-55-2_593209441/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_20-55-2_593209441/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d0aa5efb79615e8b17a2b3a04f92fa6099a6fb48 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_20-55-2_593209441/pose.jsonl @@ -0,0 +1,352 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -884.7822503877852, + 354.20040437780597, + 0.6448573962144222 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -887.7822503877852, + 354.20040437780597, + 0.6448573962144222 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -890.7822503877852, + 354.20040437780597, + 0.6448573962144222 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -893.7822503877852, + 354.20040437780597, + 0.6448573962144222 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -896.7822503877852, + 354.20040437780597, + 0.6448573962144222 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -899.7822503877852, + 354.20040437780597, + 0.6448573962144222 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -902.7822503877852, + 354.20040437780597, + 0.6448573962144222 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -905.7822503877852, + 354.20040437780597, + 0.6448573962144222 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -908.7822503877852, + 354.20040437780597, + 0.6448573962144222 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -911.7822503877852, + 354.20040437780597, + 0.6448573962144222 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -914.7822503877852, + 354.20040437780597, + 0.6448573962144222 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -917.7822503877852, + 354.20040437780597, + 0.6448573962144222 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -920.7822503877852, + 354.20040437780597, + 0.6448573962144222 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -923.7822503877852, + 354.20040437780597, + 0.6448573962144222 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -926.7822503877852, + 354.20040437780597, + 0.6448573962144222 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -929.7822503877852, + 354.20040437780597, + 0.6448573962144222 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -932.7822503877852, + 354.20040437780597, + 0.6448573962144222 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -935.7822503877852, + 354.20040437780597, + 0.6448573962144222 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -938.7822503877852, + 354.20040437780597, + 0.6448573962144222 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -941.7822503877852, + 354.20040437780597, + 0.6448573962144222 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -944.7822503877852, + 354.20040437780597, + 0.6448573962144222 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -947.7822503877852, + 354.20040437780597, + 0.6448573962144222 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -950.7822503877852, + 354.20040437780597, + 0.6448573962144222 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -950.7822503877852, + 354.20040437780597, + 0.6448573962144222 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -953.3803265991385, + 355.70040437780597, + 0.6448573962144222 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -955.9784028104918, + 357.20040437780597, + 0.6448573962144222 + ], + "type": "stop", + "value": 0, + "yaw": 2.617993877991485 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -979.8297436523437, + 358.6925830078125, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_20-56-3_1947346619/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_20-56-3_1947346619/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d44f92aab41e16af0d66e2f4f944bf3cf44d260e --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_20-56-3_1947346619/pose.jsonl @@ -0,0 +1,391 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -786.1304761008764, + -4.679097410320054, + -2.849720091014965 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -786.1304761008764, + -1.679097410320054, + -2.849720091014965 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -786.1304761008764, + 1.320902589679946, + -2.849720091014965 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -786.1304761008764, + 4.320902589679946, + -2.849720091014965 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -786.1304761008764, + 7.320902589679946, + -2.849720091014965 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -786.1304761008764, + 10.320902589679946, + -2.849720091014965 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -786.1304761008764, + 13.320902589679946, + -2.849720091014965 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -786.1304761008764, + 16.320902589679946, + -2.849720091014965 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -786.1304761008764, + 19.320902589679946, + -2.849720091014965 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -786.1304761008764, + 22.320902589679946, + -2.849720091014965 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -786.1304761008764, + 25.320902589679946, + -2.849720091014965 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -786.1304761008764, + 28.320902589679946, + -2.849720091014965 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -786.1304761008764, + 31.320902589679946, + -2.849720091014965 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -786.1304761008764, + 34.320902589679946, + -2.849720091014965 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -786.1304761008764, + 37.320902589679946, + -2.849720091014965 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -786.1304761008764, + 40.320902589679946, + -2.849720091014965 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -786.1304761008764, + 43.320902589679946, + -2.849720091014965 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -786.1304761008764, + 46.320902589679946, + -2.849720091014965 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -786.1304761008764, + 49.320902589679946, + -2.849720091014965 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -786.1304761008764, + 52.320902589679946, + -2.849720091014965 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -786.1304761008764, + 55.320902589679946, + -2.849720091014965 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -786.1304761008764, + 58.320902589679946, + -2.849720091014965 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -786.1304761008764, + 61.320902589679946, + -2.849720091014965 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -786.1304761008764, + 64.32090258967995, + -2.849720091014965 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -786.1304761008764, + 67.32090258967995, + -2.849720091014965 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -786.1304761008764, + 70.32090258967995, + -2.849720091014965 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -786.1304761008764, + 73.32090258967995, + -2.849720091014965 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -786.1304761008764, + 76.32090258967995, + -2.849720091014965 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -786.1304761008764, + 79.32090258967995, + -2.849720091014965 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -785.9369680786133, + 81.05284317016601, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-10-9_1275373743/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-10-9_1275373743/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1172a05e3bedbfc13b998b420cf91ca419f8ff14 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-10-9_1275373743/pose.jsonl @@ -0,0 +1,274 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -441.04544775264895, + 93.54712089109114, + -2.7698366857681425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -441.04544775264895, + 90.54712089109114, + -2.7698366857681425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -441.04544775264895, + 87.54712089109114, + -2.7698366857681425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -441.04544775264895, + 84.54712089109114, + -2.7698366857681425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -441.04544775264895, + 81.54712089109114, + -2.7698366857681425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -441.04544775264895, + 78.54712089109114, + -2.7698366857681425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -441.04544775264895, + 75.54712089109114, + -2.7698366857681425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -441.04544775264895, + 72.54712089109114, + -2.7698366857681425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -441.04544775264895, + 69.54712089109114, + -2.7698366857681425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -441.04544775264895, + 66.54712089109114, + -2.7698366857681425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -441.04544775264895, + 63.54712089109114, + -2.7698366857681425 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -441.04544775264895, + 63.54712089109114, + -2.7698366857681425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -439.54544775264895, + 60.949044679737824, + -2.7698366857681425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -438.04544775264895, + 58.35096846838451, + -2.7698366857681425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -436.54544775264895, + 55.75289225703119, + -2.7698366857681425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -435.04544775264895, + 53.154816045677876, + -2.7698366857681425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -433.54544775264895, + 50.55673983432456, + -2.7698366857681425 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -433.54544775264895, + 50.55673983432456, + -2.7698366857681425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -433.54544775264895, + 47.55673983432456, + -2.7698366857681425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -433.54544775264895, + 44.55673983432456, + -2.7698366857681425 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -431.4943495178223, + 32.88219102859497, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-14-24_1884661237/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-14-24_1884661237/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..83cdd2e7f2f48c0fc8012bcee93c74e146a5b39d --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-14-24_1884661237/pose.jsonl @@ -0,0 +1,521 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -881.6412170864817, + 246.5315827248366, + -0.01564831656266108 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -883.1412170864817, + 249.1296589361899, + -0.01564831656266108 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -884.6412170864817, + 251.72773514754323, + -0.01564831656266108 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -886.1412170864817, + 254.32581135889654, + -0.01564831656266108 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -887.6412170864817, + 256.92388757024986, + -0.01564831656266108 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -889.1412170864817, + 259.5219637816032, + -0.01564831656266108 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -890.6412170864817, + 262.1200399929565, + -0.01564831656266108 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -892.1412170864817, + 264.7181162043098, + -0.01564831656266108 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -893.6412170864817, + 267.3161924156631, + -0.01564831656266108 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -895.1412170864817, + 269.91426862701644, + -0.01564831656266108 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -896.6412170864817, + 272.51234483836976, + -0.01564831656266108 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -898.1412170864817, + 275.1104210497231, + -0.01564831656266108 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -899.6412170864817, + 277.7084972610764, + -0.01564831656266108 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -901.1412170864817, + 280.3065734724297, + -0.01564831656266108 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -902.6412170864817, + 282.904649683783, + -0.01564831656266108 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -904.1412170864817, + 285.50272589513634, + -0.01564831656266108 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -905.6412170864817, + 288.10080210648965, + -0.01564831656266108 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -907.1412170864817, + 290.69887831784297, + -0.01564831656266108 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -908.6412170864817, + 293.2969545291963, + -0.01564831656266108 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -910.1412170864817, + 295.8950307405496, + -0.01564831656266108 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -911.6412170864817, + 298.4931069519029, + -0.01564831656266108 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -913.1412170864817, + 301.09118316325623, + -0.01564831656266108 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -914.6412170864817, + 303.68925937460955, + -0.01564831656266108 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -916.1412170864817, + 306.28733558596286, + -0.01564831656266108 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -917.6412170864817, + 308.8854117973162, + -0.01564831656266108 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -919.1412170864817, + 311.4834880086695, + -0.01564831656266108 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -920.6412170864817, + 314.0815642200228, + -0.01564831656266108 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -922.1412170864817, + 316.67964043137613, + -0.01564831656266108 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -923.6412170864817, + 319.27771664272944, + -0.01564831656266108 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -923.6412170864817, + 319.27771664272944, + -0.01564831656266108 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -926.239293297835, + 320.77771664272944, + -0.01564831656266108 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -928.8373695091884, + 322.27771664272944, + -0.01564831656266108 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -931.4354457205418, + 323.77771664272944, + -0.01564831656266108 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -934.0335219318952, + 325.27771664272944, + -0.01564831656266108 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -936.6315981432485, + 326.77771664272944, + -0.01564831656266108 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -939.2296743546019, + 328.27771664272944, + -0.01564831656266108 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -939.2296743546019, + 328.27771664272944, + -0.01564831656266108 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -940.7296743546019, + 330.87579285408276, + -0.01564831656266108 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -942.2296743546019, + 333.4738690654361, + -0.01564831656266108 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -942.5730328369141, + 336.42247901916505, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-15-17_76065818/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-15-17_76065818/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5ae407b0faade96cc18bbc13c6488da50d0b352f --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-15-17_76065818/pose.jsonl @@ -0,0 +1,352 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -218.68253284705838, + -485.6703832567493, + -0.8410293990096278 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -218.68253284705838, + -482.6703832567493, + -0.8410293990096278 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -218.68253284705838, + -479.6703832567493, + -0.8410293990096278 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -218.68253284705838, + -476.6703832567493, + -0.8410293990096278 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -218.68253284705838, + -473.6703832567493, + -0.8410293990096278 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -218.68253284705838, + -470.6703832567493, + -0.8410293990096278 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -218.68253284705838, + -467.6703832567493, + -0.8410293990096278 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -218.68253284705838, + -464.6703832567493, + -0.8410293990096278 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -218.68253284705838, + -461.6703832567493, + -0.8410293990096278 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -218.68253284705838, + -458.6703832567493, + -0.8410293990096278 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -218.68253284705838, + -455.6703832567493, + -0.8410293990096278 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -218.68253284705838, + -452.6703832567493, + -0.8410293990096278 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -218.68253284705838, + -449.6703832567493, + -0.8410293990096278 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -218.68253284705838, + -446.6703832567493, + -0.8410293990096278 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -218.68253284705838, + -443.6703832567493, + -0.8410293990096278 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -218.68253284705838, + -440.6703832567493, + -0.8410293990096278 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -218.68253284705838, + -437.6703832567493, + -0.8410293990096278 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -218.68253284705838, + -434.6703832567493, + -0.8410293990096278 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -218.68253284705838, + -431.6703832567493, + -0.8410293990096278 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -218.68253284705838, + -428.6703832567493, + -0.8410293990096278 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -218.68253284705838, + -425.6703832567493, + -0.8410293990096278 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -218.68253284705838, + -422.6703832567493, + -0.8410293990096278 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -218.68253284705838, + -422.6703832567493, + -0.8410293990096278 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -217.18253284705838, + -420.072307045396, + -0.8410293990096278 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -215.68253284705838, + -417.47423083404266, + -0.8410293990096278 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -214.18253284705838, + -414.87615462268934, + -0.8410293990096278 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -215.0078338623047, + -412.48035171508786, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-15-4_1350573793/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-15-4_1350573793/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d25e3338bfbc44a06a415841610d5560e05a5195 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-15-4_1350573793/pose.jsonl @@ -0,0 +1,300 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -391.7959074614981, + -339.41006443941683, + 1.084210973317444 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -390.2959074614981, + -336.8119882280635, + 1.084210973317444 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -388.7959074614981, + -334.2139120167102, + 1.084210973317444 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -387.2959074614981, + -331.6158358053569, + 1.084210973317444 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -385.7959074614981, + -329.01775959400356, + 1.084210973317444 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -384.2959074614981, + -326.41968338265025, + 1.084210973317444 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -382.7959074614981, + -323.82160717129693, + 1.084210973317444 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -381.2959074614981, + -321.2235309599436, + 1.084210973317444 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -379.7959074614981, + -318.6254547485903, + 1.084210973317444 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -378.2959074614981, + -316.027378537237, + 1.084210973317444 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -376.7959074614981, + -313.42930232588367, + 1.084210973317444 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -375.2959074614981, + -310.83122611453035, + 1.084210973317444 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -373.7959074614981, + -308.23314990317704, + 1.084210973317444 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -372.2959074614981, + -305.6350736918237, + 1.084210973317444 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -370.7959074614981, + -303.0369974804704, + 1.084210973317444 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -369.2959074614981, + -300.4389212691171, + 1.084210973317444 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -367.7959074614981, + -297.8408450577638, + 1.084210973317444 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -366.2959074614981, + -295.24276884641046, + 1.084210973317444 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -364.7959074614981, + -292.64469263505714, + 1.084210973317444 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -364.7959074614981, + -292.64469263505714, + 1.084210973317444 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -362.19783125014476, + -291.14469263505714, + 1.084210973317444 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -359.59975503879144, + -289.64469263505714, + 1.084210973317444 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -357.95375900268556, + -286.8376789855957, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-19-0_1909002904/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-19-0_1909002904/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4ac6bb9b0b76fa997012868947504d6b346910f7 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-19-0_1909002904/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -940.671716019676, + 461.7547881130962, + -1.142899988218542 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -938.0736398083227, + 460.2547881130962, + -1.142899988218542 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -935.4755635969693, + 458.7547881130962, + -1.142899988218542 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -932.877487385616, + 457.2547881130962, + -1.142899988218542 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -930.2794111742626, + 455.7547881130962, + -1.142899988218542 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -927.6813349629092, + 454.2547881130962, + -1.142899988218542 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -925.0832587515558, + 452.7547881130962, + -1.142899988218542 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -922.4851825402025, + 451.2547881130962, + -1.142899988218542 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -919.8871063288491, + 449.7547881130962, + -1.142899988218542 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -917.2890301174957, + 448.2547881130962, + -1.142899988218542 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -914.6909539061423, + 446.7547881130962, + -1.142899988218542 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -912.092877694789, + 445.2547881130962, + -1.142899988218542 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -909.4948014834356, + 443.7547881130962, + -1.142899988218542 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -906.8967252720822, + 442.2547881130962, + -1.142899988218542 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -904.2986490607288, + 440.7547881130962, + -1.142899988218542 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -901.7005728493755, + 439.2547881130962, + -1.142899988218542 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -901.7005728493755, + 439.2547881130962, + -1.142899988218542 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -900.2005728493755, + 436.6567119017429, + -1.142899988218542 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -898.7005728493755, + 434.05863569038956, + -1.142899988218542 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -897.2005728493755, + 431.46055947903625, + -1.142899988218542 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -895.7005728493755, + 428.86248326768293, + -1.142899988218542 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -894.2005728493755, + 426.2644070563296, + -1.142899988218542 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -892.7005728493755, + 423.6663308449763, + -1.142899988218542 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -892.7005728493755, + 423.6663308449763, + -1.142899988218542 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -890.1024966380221, + 422.1663308449763, + -1.142899988218542 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -887.5044204266687, + 420.6663308449763, + -1.142899988218542 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -884.9063442153154, + 419.1663308449763, + -1.142899988218542 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -884.2225183105469, + 417.81855880737305, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-2-7_112805732/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-2-7_112805732/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a6d23f6f16bf654b6ad9d2bf17e7d4e3a9948430 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-2-7_112805732/pose.jsonl @@ -0,0 +1,456 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -504.03149972598527, + 286.3324707848387, + -4.552057269387006 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -505.53149972598527, + 283.73439457348536, + -4.552057269387006 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -507.03149972598527, + 281.13631836213204, + -4.552057269387006 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -508.53149972598527, + 278.53824215077873, + -4.552057269387006 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -510.03149972598527, + 275.9401659394254, + -4.552057269387006 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -511.53149972598527, + 273.3420897280721, + -4.552057269387006 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -513.0314997259852, + 270.7440135167188, + -4.552057269387006 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -514.5314997259852, + 268.14593730536546, + -4.552057269387006 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -516.0314997259852, + 265.54786109401215, + -4.552057269387006 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -517.5314997259852, + 262.94978488265883, + -4.552057269387006 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -519.0314997259852, + 260.3517086713055, + -4.552057269387006 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -520.5314997259852, + 257.7536324599522, + -4.552057269387006 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -522.0314997259852, + 255.15555624859888, + -4.552057269387006 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -523.5314997259852, + 252.55748003724557, + -4.552057269387006 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -525.0314997259852, + 249.95940382589225, + -4.552057269387006 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -526.5314997259852, + 247.36132761453894, + -4.552057269387006 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -528.0314997259852, + 244.76325140318562, + -4.552057269387006 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -529.5314997259852, + 242.1651751918323, + -4.552057269387006 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -531.0314997259852, + 239.567098980479, + -4.552057269387006 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -532.5314997259852, + 236.96902276912567, + -4.552057269387006 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -534.0314997259852, + 234.37094655777236, + -4.552057269387006 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -535.5314997259852, + 231.77287034641904, + -4.552057269387006 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -537.0314997259852, + 229.17479413506572, + -4.552057269387006 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -538.5314997259852, + 226.5767179237124, + -4.552057269387006 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -540.0314997259852, + 223.9786417123591, + -4.552057269387006 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -541.5314997259852, + 221.38056550100578, + -4.552057269387006 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -543.0314997259852, + 218.78248928965246, + -4.552057269387006 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -544.5314997259852, + 216.18441307829914, + -4.552057269387006 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -546.0314997259852, + 213.58633686694583, + -4.552057269387006 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -546.0314997259852, + 213.58633686694583, + -4.552057269387006 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -546.0314997259852, + 210.58633686694583, + -4.552057269387006 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -546.0314997259852, + 207.58633686694583, + -4.552057269387006 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -546.0314997259852, + 204.58633686694583, + -4.552057269387006 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -546.0314997259852, + 201.58633686694583, + -4.552057269387006 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -547.9009985351562, + 200.65022193908692, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-20-20_492067917/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-20-20_492067917/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c62694ad6f335fec8528cf2902dcdaaa1d687757 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-20-20_492067917/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -607.1834244331837, + 50.18378484312538, + 2.4877944840718857 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -609.7815006445371, + 48.68378484312538, + 2.4877944840718857 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -612.3795768558905, + 47.18378484312538, + 2.4877944840718857 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -614.9776530672439, + 45.68378484312538, + 2.4877944840718857 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -617.5757292785972, + 44.18378484312538, + 2.4877944840718857 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -620.1738054899506, + 42.68378484312538, + 2.4877944840718857 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -622.771881701304, + 41.18378484312538, + 2.4877944840718857 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -625.3699579126574, + 39.68378484312538, + 2.4877944840718857 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -627.9680341240107, + 38.18378484312538, + 2.4877944840718857 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -630.5661103353641, + 36.68378484312538, + 2.4877944840718857 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -633.1641865467175, + 35.18378484312538, + 2.4877944840718857 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -635.7622627580708, + 33.68378484312538, + 2.4877944840718857 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -638.3603389694242, + 32.18378484312538, + 2.4877944840718857 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -640.9584151807776, + 30.68378484312538, + 2.4877944840718857 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -643.556491392131, + 29.18378484312538, + 2.4877944840718857 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -646.1545676034843, + 27.68378484312538, + 2.4877944840718857 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -648.7526438148377, + 26.18378484312538, + 2.4877944840718857 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -651.3507200261911, + 24.68378484312538, + 2.4877944840718857 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -653.9487962375445, + 23.18378484312538, + 2.4877944840718857 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -656.5468724488978, + 21.68378484312538, + 2.4877944840718857 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -659.1449486602512, + 20.18378484312538, + 2.4877944840718857 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -661.7430248716046, + 18.68378484312538, + 2.4877944840718857 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -664.341101082958, + 17.18378484312538, + 2.4877944840718857 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -666.9391772943113, + 15.68378484312538, + 2.4877944840718857 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -667.3111592102051, + 12.556017684936524, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-26-37_1285228804/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-26-37_1285228804/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0d18622fb56e814945746a82abec9e4aa8d33d35 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-26-37_1285228804/pose.jsonl @@ -0,0 +1,417 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 283.2006343433913, + -13.962883958486906, + -2.1511979360853895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 285.7987105547446, + -12.462883958486906, + -2.1511979360853895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 288.39678676609793, + -10.962883958486906, + -2.1511979360853895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 290.99486297745125, + -9.462883958486906, + -2.1511979360853895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 293.59293918880456, + -7.9628839584869056, + -2.1511979360853895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 296.1910154001579, + -6.4628839584869056, + -2.1511979360853895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 298.7890916115112, + -4.9628839584869056, + -2.1511979360853895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 301.3871678228645, + -3.4628839584869056, + -2.1511979360853895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 303.9852440342178, + -1.9628839584869058, + -2.1511979360853895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 306.58332024557114, + -0.462883958486906, + -2.1511979360853895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 309.18139645692446, + 1.0371160415130938, + -2.1511979360853895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 311.7794726682778, + 2.5371160415130936, + -2.1511979360853895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 314.3775488796311, + 4.0371160415130936, + -2.1511979360853895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 316.9756250909844, + 5.5371160415130936, + -2.1511979360853895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 319.5737013023377, + 7.0371160415130936, + -2.1511979360853895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 322.17177751369104, + 8.537116041513093, + -2.1511979360853895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982986 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 324.76985372504436, + 10.037116041513093, + -2.1511979360853895 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 324.76985372504436, + 10.037116041513093, + -2.1511979360853895 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 326.26985372504436, + 12.635192252866409, + -2.1511979360853895 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 327.76985372504436, + 15.233268464219725, + -2.1511979360853895 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 329.26985372504436, + 17.831344675573042, + -2.1511979360853895 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196598 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 330.76985372504436, + 20.42942088692636, + -2.1511979360853895 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 332.26985372504436, + 23.027497098279675, + -2.1511979360853895 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 333.76985372504436, + 25.62557330963299, + -2.1511979360853895 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 335.26985372504436, + 28.223649520986307, + -2.1511979360853895 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 336.76985372504436, + 30.821725732339623, + -2.1511979360853895 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 338.26985372504436, + 33.41980194369294, + -2.1511979360853895 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 338.26985372504436, + 33.41980194369294, + -2.1511979360853895 + ], + "type": "turn right", + "value": 30, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 338.26985372504436, + 33.41980194369294, + -2.1511979360853895 + ], + "type": "go straight", + "value": 3, + "yaw": 2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 341.26985372504436, + 33.41980194369294, + -2.1511979360853895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 344.26985372504436, + 33.41980194369294, + -2.1511979360853895 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 344.9839593505859, + 35.070869789123535, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-29-29_889023311/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-29-29_889023311/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..89ecb7ab486e114d7433fd587d42ff511a3891b3 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-29-29_889023311/pose.jsonl @@ -0,0 +1,560 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 108.35390283876275, + 701.2169315083509, + 0.6390212167866585 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 105.35390283876275, + 701.2169315083509, + 0.6390212167866585 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 102.35390283876275, + 701.2169315083509, + 0.6390212167866585 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 99.35390283876275, + 701.2169315083509, + 0.6390212167866585 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 96.35390283876275, + 701.2169315083509, + 0.6390212167866585 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 93.35390283876275, + 701.2169315083509, + 0.6390212167866585 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 90.35390283876275, + 701.2169315083509, + 0.6390212167866585 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 87.35390283876275, + 701.2169315083509, + 0.6390212167866585 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 84.35390283876275, + 701.2169315083509, + 0.6390212167866585 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 81.35390283876275, + 701.2169315083509, + 0.6390212167866585 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 78.35390283876275, + 701.2169315083509, + 0.6390212167866585 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 75.35390283876275, + 701.2169315083509, + 0.6390212167866585 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 72.35390283876275, + 701.2169315083509, + 0.6390212167866585 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 69.35390283876275, + 701.2169315083509, + 0.6390212167866585 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 66.35390283876275, + 701.2169315083509, + 0.6390212167866585 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 63.35390283876275, + 701.2169315083509, + 0.6390212167866585 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 60.35390283876275, + 701.2169315083509, + 0.6390212167866585 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 57.35390283876275, + 701.2169315083509, + 0.6390212167866585 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 54.35390283876275, + 701.2169315083509, + 0.6390212167866585 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 51.35390283876275, + 701.2169315083509, + 0.6390212167866585 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 48.35390283876275, + 701.2169315083509, + 0.6390212167866585 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 45.35390283876275, + 701.2169315083509, + 0.6390212167866585 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 42.35390283876275, + 701.2169315083509, + 0.6390212167866585 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 39.35390283876275, + 701.2169315083509, + 0.6390212167866585 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 36.35390283876275, + 701.2169315083509, + 0.6390212167866585 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 33.35390283876275, + 701.2169315083509, + 0.6390212167866585 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 30.35390283876275, + 701.2169315083509, + 0.6390212167866585 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 27.35390283876275, + 701.2169315083509, + 0.6390212167866585 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 24.35390283876275, + 701.2169315083509, + 0.6390212167866585 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 21.35390283876275, + 701.2169315083509, + 0.6390212167866585 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 18.35390283876275, + 701.2169315083509, + 0.6390212167866585 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 15.35390283876275, + 701.2169315083509, + 0.6390212167866585 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 12.35390283876275, + 701.2169315083509, + 0.6390212167866585 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 9.35390283876275, + 701.2169315083509, + 0.6390212167866585 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 6.35390283876275, + 701.2169315083509, + 0.6390212167866585 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 3.3539028387627496, + 701.2169315083509, + 0.6390212167866585 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 3.3539028387627496, + 701.2169315083509, + 0.6390212167866585 + ], + "type": "turn left", + "value": 30, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 3.3539028387627496, + 701.2169315083509, + 0.6390212167866585 + ], + "type": "go straight", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1.8539028387627503, + 698.6188552969975, + 0.6390212167866585 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 0.35390283876275097, + 696.0207790856441, + 0.6390212167866585 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1.1460971612372484, + 693.4227028742907, + 0.6390212167866585 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -2.6460971612372477, + 690.8246266629374, + 0.6390212167866585 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -5.930885200500488, + 691.5702409362793, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-30-20_1369321801/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-30-20_1369321801/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f5b7fdabd8408b0aeb08acb4e5ee8f3c4e6da80b --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-30-20_1369321801/pose.jsonl @@ -0,0 +1,495 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -423.7531313280728, + -77.99012578344062, + -1.235155251060705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -422.2531313280728, + -80.58820199479393, + -1.235155251060705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -420.7531313280728, + -83.18627820614725, + -1.235155251060705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -419.2531313280728, + -85.78435441750057, + -1.235155251060705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -417.7531313280728, + -88.38243062885388, + -1.235155251060705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -416.2531313280728, + -90.9805068402072, + -1.235155251060705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -414.7531313280728, + -93.57858305156051, + -1.235155251060705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -413.2531313280728, + -96.17665926291383, + -1.235155251060705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -411.7531313280728, + -98.77473547426715, + -1.235155251060705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -410.2531313280728, + -101.37281168562046, + -1.235155251060705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -408.7531313280728, + -103.97088789697378, + -1.235155251060705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -407.2531313280728, + -106.5689641083271, + -1.235155251060705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -405.7531313280728, + -109.16704031968041, + -1.235155251060705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -404.2531313280728, + -111.76511653103373, + -1.235155251060705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -402.7531313280728, + -114.36319274238704, + -1.235155251060705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -401.2531313280728, + -116.96126895374036, + -1.235155251060705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -399.7531313280728, + -119.55934516509367, + -1.235155251060705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -398.2531313280728, + -122.15742137644699, + -1.235155251060705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -396.7531313280728, + -124.7554975878003, + -1.235155251060705 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -396.7531313280728, + -124.7554975878003, + -1.235155251060705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -396.7531313280728, + -127.7554975878003, + -1.235155251060705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -396.7531313280728, + -130.7554975878003, + -1.235155251060705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -396.7531313280728, + -133.7554975878003, + -1.235155251060705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -396.7531313280728, + -136.7554975878003, + -1.235155251060705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -396.7531313280728, + -139.7554975878003, + -1.235155251060705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -396.7531313280728, + -142.7554975878003, + -1.235155251060705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -396.7531313280728, + -145.7554975878003, + -1.235155251060705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -396.7531313280728, + -148.7554975878003, + -1.235155251060705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -396.7531313280728, + -151.7554975878003, + -1.235155251060705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -396.7531313280728, + -154.7554975878003, + -1.235155251060705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -396.7531313280728, + -157.7554975878003, + -1.235155251060705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -396.7531313280728, + -160.7554975878003, + -1.235155251060705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -396.7531313280728, + -163.7554975878003, + -1.235155251060705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -396.7531313280728, + -166.7554975878003, + -1.235155251060705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -396.7531313280728, + -169.7554975878003, + -1.235155251060705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -396.7531313280728, + -172.7554975878003, + -1.235155251060705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -396.7531313280728, + -175.7554975878003, + -1.235155251060705 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -395.0994828796387, + -178.58960372924804, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-30-38_745425661/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-30-38_745425661/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f0d91fd17f88aa5ea95ce30a00460f4ae84d7c31 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-30-38_745425661/pose.jsonl @@ -0,0 +1,521 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 457.3524911088634, + 456.41006545602136, + -4.369223697664811 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 457.3524911088634, + 459.41006545602136, + -4.369223697664811 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 457.3524911088634, + 462.41006545602136, + -4.369223697664811 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 457.3524911088634, + 465.41006545602136, + -4.369223697664811 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 457.3524911088634, + 468.41006545602136, + -4.369223697664811 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 457.3524911088634, + 471.41006545602136, + -4.369223697664811 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 457.3524911088634, + 474.41006545602136, + -4.369223697664811 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 457.3524911088634, + 477.41006545602136, + -4.369223697664811 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 457.3524911088634, + 480.41006545602136, + -4.369223697664811 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 457.3524911088634, + 483.41006545602136, + -4.369223697664811 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 457.3524911088634, + 486.41006545602136, + -4.369223697664811 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 457.3524911088634, + 489.41006545602136, + -4.369223697664811 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 457.3524911088634, + 492.41006545602136, + -4.369223697664811 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 457.3524911088634, + 495.41006545602136, + -4.369223697664811 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 457.3524911088634, + 498.41006545602136, + -4.369223697664811 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 457.3524911088634, + 501.41006545602136, + -4.369223697664811 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 457.3524911088634, + 504.41006545602136, + -4.369223697664811 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 457.3524911088634, + 507.41006545602136, + -4.369223697664811 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 457.3524911088634, + 510.41006545602136, + -4.369223697664811 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 457.3524911088634, + 513.4100654560214, + -4.369223697664811 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 457.3524911088634, + 516.4100654560214, + -4.369223697664811 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 457.3524911088634, + 519.4100654560214, + -4.369223697664811 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 457.3524911088634, + 522.4100654560214, + -4.369223697664811 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 457.3524911088634, + 525.4100654560214, + -4.369223697664811 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 457.3524911088634, + 525.4100654560214, + -4.369223697664811 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 455.8524911088634, + 528.0081416673747, + -4.369223697664811 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 454.3524911088634, + 530.6062178787281, + -4.369223697664811 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 452.8524911088634, + 533.2042940900815, + -4.369223697664811 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 451.3524911088634, + 535.8023703014348, + -4.369223697664811 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 449.8524911088634, + 538.4004465127882, + -4.369223697664811 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 448.3524911088634, + 540.9985227241416, + -4.369223697664811 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 446.8524911088634, + 543.596598935495, + -4.369223697664811 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 445.3524911088634, + 546.1946751468483, + -4.369223697664811 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 443.8524911088634, + 548.7927513582017, + -4.369223697664811 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 442.3524911088634, + 551.3908275695551, + -4.369223697664811 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 440.8524911088634, + 553.9889037809085, + -4.369223697664811 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 439.3524911088634, + 556.5869799922618, + -4.369223697664811 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 439.3524911088634, + 556.5869799922618, + -4.369223697664811 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 439.3524911088634, + 559.5869799922618, + -4.369223697664811 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948872 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 439.84950744628907, + 563.3985629272461, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-31-31_1346811305/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-31-31_1346811305/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c89889b2a379e1f93a7dca696f24082881469acf --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-31-31_1346811305/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 326.4608791734237, + -16.07689286416958, + -1.8114822380408375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 327.9608791734237, + -18.674969075522895, + -1.8114822380408375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 329.4608791734237, + -21.27304528687621, + -1.8114822380408375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 330.9608791734237, + -23.871121498229527, + -1.8114822380408375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 332.4608791734237, + -26.469197709582843, + -1.8114822380408375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 333.9608791734237, + -29.06727392093616, + -1.8114822380408375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 335.4608791734237, + -31.665350132289475, + -1.8114822380408375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 336.9608791734237, + -34.26342634364279, + -1.8114822380408375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 338.4608791734237, + -36.86150255499611, + -1.8114822380408375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 339.9608791734237, + -39.45957876634942, + -1.8114822380408375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 341.4608791734237, + -42.05765497770274, + -1.8114822380408375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 342.9608791734237, + -44.655731189056056, + -1.8114822380408375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 344.4608791734237, + -47.25380740040937, + -1.8114822380408375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 345.9608791734237, + -49.85188361176269, + -1.8114822380408375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 347.4608791734237, + -52.449959823116004, + -1.8114822380408375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 348.9608791734237, + -55.04803603446932, + -1.8114822380408375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 350.4608791734237, + -57.646112245822636, + -1.8114822380408375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 351.9608791734237, + -60.24418845717595, + -1.8114822380408375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 353.4608791734237, + -62.84226466852927, + -1.8114822380408375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 354.9608791734237, + -65.44034087988258, + -1.8114822380408375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 356.4608791734237, + -68.0384170912359, + -1.8114822380408375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 357.9608791734237, + -70.63649330258922, + -1.8114822380408375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 359.4608791734237, + -73.23456951394253, + -1.8114822380408375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 360.9608791734237, + -75.83264572529585, + -1.8114822380408375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 362.4608791734237, + -78.43072193664916, + -1.8114822380408375 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 361.61789932250974, + -80.46325607299805, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-31-45_1569229320/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-31-45_1569229320/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..63b7751067fd437da5ae5b9fc8a845dfcceb3079 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-31-45_1569229320/pose.jsonl @@ -0,0 +1,560 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -334.0279813182153, + -197.02843061030714, + -4.898286552963423 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -336.62605752956864, + -195.52843061030714, + -4.898286552963423 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -339.22413374092196, + -194.02843061030714, + -4.898286552963423 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -341.8222099522753, + -192.52843061030714, + -4.898286552963423 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -344.4202861636286, + -191.02843061030714, + -4.898286552963423 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -347.0183623749819, + -189.52843061030714, + -4.898286552963423 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -349.6164385863352, + -188.02843061030714, + -4.898286552963423 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -352.21451479768854, + -186.52843061030714, + -4.898286552963423 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -354.81259100904185, + -185.02843061030714, + -4.898286552963423 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -357.41066722039517, + -183.52843061030714, + -4.898286552963423 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -360.0087434317485, + -182.02843061030714, + -4.898286552963423 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -362.6068196431018, + -180.52843061030714, + -4.898286552963423 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -365.2048958544551, + -179.02843061030714, + -4.898286552963423 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -367.80297206580843, + -177.52843061030714, + -4.898286552963423 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -370.40104827716175, + -176.02843061030714, + -4.898286552963423 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -372.99912448851506, + -174.52843061030714, + -4.898286552963423 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -375.5972006998684, + -173.02843061030714, + -4.898286552963423 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -378.1952769112217, + -171.52843061030714, + -4.898286552963423 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -380.793353122575, + -170.02843061030714, + -4.898286552963423 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -383.39142933392833, + -168.52843061030714, + -4.898286552963423 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -385.98950554528165, + -167.02843061030714, + -4.898286552963423 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -388.58758175663496, + -165.52843061030714, + -4.898286552963423 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -391.1856579679883, + -164.02843061030714, + -4.898286552963423 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -393.7837341793416, + -162.52843061030714, + -4.898286552963423 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -396.3818103906949, + -161.02843061030714, + -4.898286552963423 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -396.3818103906949, + -161.02843061030714, + -4.898286552963423 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -399.3818103906949, + -161.02843061030714, + -4.898286552963423 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -402.3818103906949, + -161.02843061030714, + -4.898286552963423 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -405.3818103906949, + -161.02843061030714, + -4.898286552963423 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -408.3818103906949, + -161.02843061030714, + -4.898286552963423 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -411.3818103906949, + -161.02843061030714, + -4.898286552963423 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -414.3818103906949, + -161.02843061030714, + -4.898286552963423 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -417.3818103906949, + -161.02843061030714, + -4.898286552963423 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -420.3818103906949, + -161.02843061030714, + -4.898286552963423 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -423.3818103906949, + -161.02843061030714, + -4.898286552963423 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -426.3818103906949, + -161.02843061030714, + -4.898286552963423 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -429.3818103906949, + -161.02843061030714, + -4.898286552963423 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -432.3818103906949, + -161.02843061030714, + -4.898286552963423 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -435.3818103906949, + -161.02843061030714, + -4.898286552963423 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -438.3818103906949, + -161.02843061030714, + -4.898286552963423 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -441.3818103906949, + -161.02843061030714, + -4.898286552963423 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -444.3818103906949, + -161.02843061030714, + -4.898286552963423 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -445.52278427124025, + -160.4525846862793, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-41-53_2025187190/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-41-53_2025187190/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5b0d47c38bf271830bcf028407ec0dd17a5695b6 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-41-53_2025187190/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -665.3582874315746, + 173.05657654888606, + -1.1868909682889623 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -666.8582874315746, + 175.65465276023937, + -1.1868909682889623 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -668.3582874315746, + 178.2527289715927, + -1.1868909682889623 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -669.8582874315746, + 180.850805182946, + -1.1868909682889623 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -671.3582874315746, + 183.44888139429932, + -1.1868909682889623 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -672.8582874315746, + 186.04695760565264, + -1.1868909682889623 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -674.3582874315746, + 188.64503381700595, + -1.1868909682889623 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -675.8582874315746, + 191.24311002835927, + -1.1868909682889623 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -677.3582874315746, + 193.84118623971258, + -1.1868909682889623 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -678.8582874315746, + 196.4392624510659, + -1.1868909682889623 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -680.3582874315746, + 199.03733866241922, + -1.1868909682889623 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -681.8582874315746, + 201.63541487377253, + -1.1868909682889623 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -683.3582874315746, + 204.23349108512585, + -1.1868909682889623 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -684.8582874315746, + 206.83156729647916, + -1.1868909682889623 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -686.3582874315746, + 209.42964350783248, + -1.1868909682889623 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -687.8582874315746, + 212.0277197191858, + -1.1868909682889623 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -689.3582874315746, + 214.6257959305391, + -1.1868909682889623 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -690.8582874315746, + 217.22387214189243, + -1.1868909682889623 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -692.3582874315746, + 219.82194835324574, + -1.1868909682889623 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -693.8582874315746, + 222.42002456459906, + -1.1868909682889623 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -695.3582874315746, + 225.01810077595238, + -1.1868909682889623 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -696.8582874315746, + 227.6161769873057, + -1.1868909682889623 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -698.3582874315746, + 230.214253198659, + -1.1868909682889623 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -699.8582874315746, + 232.81232941001232, + -1.1868909682889623 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -699.8582874315746, + 232.81232941001232, + -1.1868909682889623 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -702.456363642928, + 234.31232941001232, + -1.1868909682889623 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -705.0544398542813, + 235.81232941001232, + -1.1868909682889623 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -707.2679043579102, + 238.37122535705566, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-46-50_387451659/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-46-50_387451659/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..af97be893885b9d7975a14e349159f06a30e101f --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-46-50_387451659/pose.jsonl @@ -0,0 +1,248 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -847.0558028717124, + 335.36798068642025, + 1.2761878765770902 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -845.5558028717124, + 332.76990447506694, + 1.2761878765770902 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -844.0558028717124, + 330.1718282637136, + 1.2761878765770902 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -842.5558028717124, + 327.5737520523603, + 1.2761878765770902 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -841.0558028717124, + 324.975675841007, + 1.2761878765770902 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -839.5558028717124, + 322.3775996296537, + 1.2761878765770902 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -838.0558028717124, + 319.77952341830036, + 1.2761878765770902 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -836.5558028717124, + 317.18144720694704, + 1.2761878765770902 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -835.0558028717124, + 314.5833709955937, + 1.2761878765770902 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -833.5558028717124, + 311.9852947842404, + 1.2761878765770902 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -833.5558028717124, + 311.9852947842404, + 1.2761878765770902 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -830.9577266603592, + 310.4852947842404, + 1.2761878765770902 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -828.3596504490058, + 308.9852947842404, + 1.2761878765770902 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -825.7615742376524, + 307.4852947842404, + 1.2761878765770902 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -823.1634980262991, + 305.9852947842404, + 1.2761878765770902 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -820.5654218149457, + 304.4852947842404, + 1.2761878765770902 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -817.9673456035923, + 302.9852947842404, + 1.2761878765770902 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -815.369269392239, + 301.4852947842404, + 1.2761878765770902 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -802.5129748535156, + 284.37975662231446, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-50-16_774044599/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-50-16_774044599/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..13a7e6f4fed0bb1234558f56de540af6060f2132 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-50-16_774044599/pose.jsonl @@ -0,0 +1,443 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -726.861543171746, + 461.5663907978889, + -3.0218392720473064 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -723.861543171746, + 461.5663907978889, + -3.0218392720473064 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -720.861543171746, + 461.5663907978889, + -3.0218392720473064 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -717.861543171746, + 461.5663907978889, + -3.0218392720473064 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -714.861543171746, + 461.5663907978889, + -3.0218392720473064 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -711.861543171746, + 461.5663907978889, + -3.0218392720473064 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -708.861543171746, + 461.5663907978889, + -3.0218392720473064 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -705.861543171746, + 461.5663907978889, + -3.0218392720473064 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -702.861543171746, + 461.5663907978889, + -3.0218392720473064 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -699.861543171746, + 461.5663907978889, + -3.0218392720473064 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -696.861543171746, + 461.5663907978889, + -3.0218392720473064 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -693.861543171746, + 461.5663907978889, + -3.0218392720473064 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -690.861543171746, + 461.5663907978889, + -3.0218392720473064 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -687.861543171746, + 461.5663907978889, + -3.0218392720473064 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -684.861543171746, + 461.5663907978889, + -3.0218392720473064 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -684.861543171746, + 461.5663907978889, + -3.0218392720473064 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -682.2634669603926, + 463.0663907978889, + -3.0218392720473064 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -679.6653907490393, + 464.5663907978889, + -3.0218392720473064 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -677.0673145376859, + 466.0663907978889, + -3.0218392720473064 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -674.4692383263325, + 467.5663907978889, + -3.0218392720473064 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -671.8711621149791, + 469.0663907978889, + -3.0218392720473064 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -669.2730859036258, + 470.5663907978889, + -3.0218392720473064 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -666.6750096922724, + 472.0663907978889, + -3.0218392720473064 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -664.076933480919, + 473.5663907978889, + -3.0218392720473064 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -661.4788572695657, + 475.0663907978889, + -3.0218392720473064 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -658.8807810582123, + 476.5663907978889, + -3.0218392720473064 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -656.2827048468589, + 478.0663907978889, + -3.0218392720473064 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -653.6846286355055, + 479.5663907978889, + -3.0218392720473064 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -651.0865524241522, + 481.0663907978889, + -3.0218392720473064 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -648.4884762127988, + 482.5663907978889, + -3.0218392720473064 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -648.4884762127988, + 482.5663907978889, + -3.0218392720473064 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -645.4884762127988, + 482.5663907978889, + -3.0218392720473064 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -642.4884762127988, + 482.5663907978889, + -3.0218392720473064 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -639.5100476074218, + 482.8642652893066, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-50-52_2001229904/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-50-52_2001229904/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ba6a0c1f6f734df31121ec74ed9495b118f4fd4d --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-50-52_2001229904/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -684.855771595113, + -55.143247760816266, + 4.189513708188935 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -683.355771595113, + -52.54517154946295, + 4.189513708188935 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -681.855771595113, + -49.947095338109634, + 4.189513708188935 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -680.355771595113, + -47.34901912675632, + 4.189513708188935 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -678.855771595113, + -44.750942915403, + 4.189513708188935 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -677.355771595113, + -42.152866704049686, + 4.189513708188935 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -675.855771595113, + -39.55479049269637, + 4.189513708188935 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -674.355771595113, + -36.956714281343054, + 4.189513708188935 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -672.855771595113, + -34.35863806998974, + 4.189513708188935 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -671.355771595113, + -31.76056185863642, + 4.189513708188935 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -669.855771595113, + -29.162485647283106, + 4.189513708188935 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -668.355771595113, + -26.56440943592979, + 4.189513708188935 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -668.355771595113, + -26.56440943592979, + 4.189513708188935 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -668.355771595113, + -23.56440943592979, + 4.189513708188935 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -668.355771595113, + -20.56440943592979, + 4.189513708188935 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -668.355771595113, + -17.56440943592979, + 4.189513708188935 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -668.355771595113, + -14.56440943592979, + 4.189513708188935 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -668.355771595113, + -11.56440943592979, + 4.189513708188935 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -668.355771595113, + -8.56440943592979, + 4.189513708188935 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -668.355771595113, + -5.5644094359297895, + 4.189513708188935 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -668.355771595113, + -2.5644094359297895, + 4.189513708188935 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -668.355771595113, + 0.43559056407021046, + 4.189513708188935 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -668.355771595113, + 3.4355905640702105, + 4.189513708188935 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -668.355771595113, + 6.4355905640702105, + 4.189513708188935 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -668.355771595113, + 9.43559056407021, + 4.189513708188935 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -667.3111592102051, + 12.556017684936524, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-53-24_1307565984/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-53-24_1307565984/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8be527672a2d29e92a2fe8222ec35585e495c2a7 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-53-24_1307565984/pose.jsonl @@ -0,0 +1,482 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -466.4882165366596, + -371.8796963832398, + 4.5960496196278005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -469.0862927480129, + -370.3796963832398, + 4.5960496196278005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -471.6843689593662, + -368.8796963832398, + 4.5960496196278005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -474.28244517071954, + -367.3796963832398, + 4.5960496196278005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -476.88052138207286, + -365.8796963832398, + 4.5960496196278005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -479.4785975934262, + -364.3796963832398, + 4.5960496196278005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -482.0766738047795, + -362.8796963832398, + 4.5960496196278005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -484.6747500161328, + -361.3796963832398, + 4.5960496196278005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -487.2728262274861, + -359.8796963832398, + 4.5960496196278005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -489.87090243883944, + -358.3796963832398, + 4.5960496196278005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -492.46897865019275, + -356.8796963832398, + 4.5960496196278005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -495.06705486154607, + -355.3796963832398, + 4.5960496196278005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -497.6651310728994, + -353.8796963832398, + 4.5960496196278005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -500.2632072842527, + -352.3796963832398, + 4.5960496196278005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -502.861283495606, + -350.8796963832398, + 4.5960496196278005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -505.45935970695933, + -349.3796963832398, + 4.5960496196278005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -508.05743591831265, + -347.8796963832398, + 4.5960496196278005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -510.65551212966596, + -346.3796963832398, + 4.5960496196278005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -513.2535883410193, + -344.8796963832398, + 4.5960496196278005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -515.8516645523725, + -343.3796963832398, + 4.5960496196278005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -518.4497407637259, + -341.8796963832398, + 4.5960496196278005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -521.0478169750793, + -340.3796963832398, + 4.5960496196278005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -523.6458931864327, + -338.8796963832398, + 4.5960496196278005 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -523.6458931864327, + -338.8796963832398, + 4.5960496196278005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -525.1458931864327, + -336.28162017188646, + 4.5960496196278005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -526.6458931864327, + -333.68354396053314, + 4.5960496196278005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -528.1458931864327, + -331.0854677491798, + 4.5960496196278005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -529.6458931864327, + -328.4873915378265, + 4.5960496196278005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -531.1458931864327, + -325.8893153264732, + 4.5960496196278005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -532.6458931864327, + -323.2912391151199, + 4.5960496196278005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -534.1458931864327, + -320.69316290376656, + 4.5960496196278005 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -534.1458931864327, + -320.69316290376656, + 4.5960496196278005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -536.743969397786, + -319.19316290376656, + 4.5960496196278005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -539.3420456091394, + -317.69316290376656, + 4.5960496196278005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -541.9401218204928, + -316.19316290376656, + 4.5960496196278005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -544.5381980318462, + -314.69316290376656, + 4.5960496196278005 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -545.8660174560547, + -312.8632476806641, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-54-51_1389867269/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-54-51_1389867269/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a242e01b4bfba9f0171ccd0b88e1b1733d0c05ef --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-54-51_1389867269/pose.jsonl @@ -0,0 +1,521 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -756.314995296234, + -77.2973490786416, + -0.8568786493452354 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -757.814995296234, + -74.69927286728829, + -0.8568786493452354 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -759.314995296234, + -72.10119665593497, + -0.8568786493452354 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -760.814995296234, + -69.50312044458165, + -0.8568786493452354 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -762.314995296234, + -66.90504423322834, + -0.8568786493452354 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -763.814995296234, + -64.30696802187502, + -0.8568786493452354 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -765.314995296234, + -61.708891810521706, + -0.8568786493452354 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -766.814995296234, + -59.11081559916839, + -0.8568786493452354 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -768.314995296234, + -56.512739387815074, + -0.8568786493452354 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -769.814995296234, + -53.91466317646176, + -0.8568786493452354 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -771.314995296234, + -51.31658696510844, + -0.8568786493452354 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -772.814995296234, + -48.718510753755126, + -0.8568786493452354 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -774.314995296234, + -46.12043454240181, + -0.8568786493452354 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -775.814995296234, + -43.522358331048494, + -0.8568786493452354 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -777.314995296234, + -40.92428211969518, + -0.8568786493452354 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -778.814995296234, + -38.32620590834186, + -0.8568786493452354 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -780.314995296234, + -35.728129696988546, + -0.8568786493452354 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -781.814995296234, + -33.13005348563523, + -0.8568786493452354 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -783.314995296234, + -30.531977274281914, + -0.8568786493452354 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -784.814995296234, + -27.933901062928598, + -0.8568786493452354 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -786.314995296234, + -25.335824851575282, + -0.8568786493452354 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -787.814995296234, + -22.737748640221966, + -0.8568786493452354 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -789.314995296234, + -20.13967242886865, + -0.8568786493452354 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -790.814995296234, + -17.541596217515334, + -0.8568786493452354 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -792.314995296234, + -14.943520006162018, + -0.8568786493452354 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -793.814995296234, + -12.345443794808702, + -0.8568786493452354 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -795.314995296234, + -9.747367583455386, + -0.8568786493452354 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -796.814995296234, + -7.14929137210207, + -0.8568786493452354 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -798.314995296234, + -4.551215160748754, + -0.8568786493452354 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -799.814995296234, + -1.9531389493954379, + -0.8568786493452354 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -801.314995296234, + 0.6449372619578781, + -0.8568786493452354 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -801.314995296234, + 0.6449372619578781, + -0.8568786493452354 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -803.9130715075873, + 2.144937261957878, + -0.8568786493452354 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -806.5111477189407, + 3.644937261957878, + -0.8568786493452354 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -809.1092239302941, + 5.144937261957878, + -0.8568786493452354 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -811.7073001416475, + 6.644937261957878, + -0.8568786493452354 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -814.3053763530008, + 8.144937261957878, + -0.8568786493452354 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -816.9034525643542, + 9.644937261957878, + -0.8568786493452354 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -819.5015287757076, + 11.144937261957878, + -0.8568786493452354 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -821.0513497924804, + 12.496731524467467, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-9-3_1869470124/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-9-3_1869470124/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3fa5cb916e7db2407cefe3b90c0a444ffbfd75d8 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-9-3_1869470124/pose.jsonl @@ -0,0 +1,495 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -439.0006580023496, + -265.74458200989227, + -0.8049187831459417 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -439.0006580023496, + -262.74458200989227, + -0.8049187831459417 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -439.0006580023496, + -259.74458200989227, + -0.8049187831459417 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -439.0006580023496, + -256.74458200989227, + -0.8049187831459417 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -439.0006580023496, + -253.74458200989227, + -0.8049187831459417 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -439.0006580023496, + -250.74458200989227, + -0.8049187831459417 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -439.0006580023496, + -247.74458200989227, + -0.8049187831459417 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -439.0006580023496, + -244.74458200989227, + -0.8049187831459417 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -439.0006580023496, + -241.74458200989227, + -0.8049187831459417 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -439.0006580023496, + -238.74458200989227, + -0.8049187831459417 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -439.0006580023496, + -235.74458200989227, + -0.8049187831459417 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -439.0006580023496, + -232.74458200989227, + -0.8049187831459417 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -439.0006580023496, + -229.74458200989227, + -0.8049187831459417 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -439.0006580023496, + -226.74458200989227, + -0.8049187831459417 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -439.0006580023496, + -223.74458200989227, + -0.8049187831459417 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -439.0006580023496, + -220.74458200989227, + -0.8049187831459417 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -439.0006580023496, + -217.74458200989227, + -0.8049187831459417 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -439.0006580023496, + -214.74458200989227, + -0.8049187831459417 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -439.0006580023496, + -211.74458200989227, + -0.8049187831459417 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -439.0006580023496, + -208.74458200989227, + -0.8049187831459417 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -439.0006580023496, + -205.74458200989227, + -0.8049187831459417 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -439.0006580023496, + -202.74458200989227, + -0.8049187831459417 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -439.0006580023496, + -199.74458200989227, + -0.8049187831459417 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -439.0006580023496, + -196.74458200989227, + -0.8049187831459417 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -439.0006580023496, + -193.74458200989227, + -0.8049187831459417 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -439.0006580023496, + -190.74458200989227, + -0.8049187831459417 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -439.0006580023496, + -187.74458200989227, + -0.8049187831459417 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -439.0006580023496, + -184.74458200989227, + -0.8049187831459417 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -439.0006580023496, + -181.74458200989227, + -0.8049187831459417 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -439.0006580023496, + -178.74458200989227, + -0.8049187831459417 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -439.0006580023496, + -175.74458200989227, + -0.8049187831459417 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -439.0006580023496, + -175.74458200989227, + -0.8049187831459417 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -440.5006580023496, + -173.14650579853895, + -0.8049187831459417 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -442.0006580023496, + -170.54842958718564, + -0.8049187831459417 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -443.5006580023496, + -167.95035337583232, + -0.8049187831459417 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -445.0006580023496, + -165.352277164479, + -0.8049187831459417 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -446.5006580023496, + -162.7542009531257, + -0.8049187831459417 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -445.52278427124025, + -160.4525846862793, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-13-54_1280321648/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-13-54_1280321648/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..22ebcd01fafa3ff1b0eee347d3fc84fc9a4fcc97 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-13-54_1280321648/pose.jsonl @@ -0,0 +1,404 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -449.73081796152024, + -163.82154081819252, + -4.679818977007128 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -452.32889417287356, + -165.32154081819252, + -4.679818977007128 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -454.9269703842269, + -166.82154081819252, + -4.679818977007128 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -457.5250465955802, + -168.32154081819252, + -4.679818977007128 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -460.1231228069335, + -169.82154081819252, + -4.679818977007128 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -462.7211990182868, + -171.32154081819252, + -4.679818977007128 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -465.31927522964014, + -172.82154081819252, + -4.679818977007128 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -467.91735144099346, + -174.32154081819252, + -4.679818977007128 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -470.5154276523468, + -175.82154081819252, + -4.679818977007128 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -473.1135038637001, + -177.32154081819252, + -4.679818977007128 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -475.7115800750534, + -178.82154081819252, + -4.679818977007128 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -478.3096562864067, + -180.32154081819252, + -4.679818977007128 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -480.90773249776004, + -181.82154081819252, + -4.679818977007128 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -483.50580870911335, + -183.32154081819252, + -4.679818977007128 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -486.10388492046667, + -184.82154081819252, + -4.679818977007128 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -488.70196113182, + -186.32154081819252, + -4.679818977007128 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -488.70196113182, + -186.32154081819252, + -4.679818977007128 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -490.20196113182, + -188.91961702954583, + -4.679818977007128 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -491.70196113182, + -191.51769324089915, + -4.679818977007128 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -493.20196113182, + -194.11576945225247, + -4.679818977007128 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -494.70196113182, + -196.71384566360578, + -4.679818977007128 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -496.20196113182, + -199.3119218749591, + -4.679818977007128 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -497.70196113182, + -201.9099980863124, + -4.679818977007128 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -499.20196113182, + -204.50807429766573, + -4.679818977007128 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -500.70196113182, + -207.10615050901905, + -4.679818977007128 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -502.20196113182, + -209.70422672037236, + -4.679818977007128 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -503.70196113182, + -212.30230293172568, + -4.679818977007128 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -505.20196113182, + -214.900379143079, + -4.679818977007128 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -506.70196113182, + -217.4984553544323, + -4.679818977007128 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -508.20196113182, + -220.09653156578563, + -4.679818977007128 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -510.5901588439941, + -220.83477218627928, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-16-45_767066249/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-16-45_767066249/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7c0bb450b079b0867285a232dd661ea7b7e7c2af --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-16-45_767066249/pose.jsonl @@ -0,0 +1,469 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -873.5931092443295, + 239.11086545495286, + -3.444074597120597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -876.5931092443295, + 239.11086545495286, + -3.444074597120597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -879.5931092443295, + 239.11086545495286, + -3.444074597120597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -882.5931092443295, + 239.11086545495286, + -3.444074597120597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -885.5931092443295, + 239.11086545495286, + -3.444074597120597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -888.5931092443295, + 239.11086545495286, + -3.444074597120597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -891.5931092443295, + 239.11086545495286, + -3.444074597120597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -894.5931092443295, + 239.11086545495286, + -3.444074597120597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -897.5931092443295, + 239.11086545495286, + -3.444074597120597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -900.5931092443295, + 239.11086545495286, + -3.444074597120597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -903.5931092443295, + 239.11086545495286, + -3.444074597120597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -906.5931092443295, + 239.11086545495286, + -3.444074597120597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -909.5931092443295, + 239.11086545495286, + -3.444074597120597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -912.5931092443295, + 239.11086545495286, + -3.444074597120597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -915.5931092443295, + 239.11086545495286, + -3.444074597120597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -918.5931092443295, + 239.11086545495286, + -3.444074597120597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -921.5931092443295, + 239.11086545495286, + -3.444074597120597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -924.5931092443295, + 239.11086545495286, + -3.444074597120597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -927.5931092443295, + 239.11086545495286, + -3.444074597120597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -930.5931092443295, + 239.11086545495286, + -3.444074597120597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -933.5931092443295, + 239.11086545495286, + -3.444074597120597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -936.5931092443295, + 239.11086545495286, + -3.444074597120597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -939.5931092443295, + 239.11086545495286, + -3.444074597120597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -942.5931092443295, + 239.11086545495286, + -3.444074597120597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -945.5931092443295, + 239.11086545495286, + -3.444074597120597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -948.5931092443295, + 239.11086545495286, + -3.444074597120597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -951.5931092443295, + 239.11086545495286, + -3.444074597120597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -954.5931092443295, + 239.11086545495286, + -3.444074597120597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -957.5931092443295, + 239.11086545495286, + -3.444074597120597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -960.5931092443295, + 239.11086545495286, + -3.444074597120597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -963.5931092443295, + 239.11086545495286, + -3.444074597120597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -966.5931092443295, + 239.11086545495286, + -3.444074597120597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -969.5931092443295, + 239.11086545495286, + -3.444074597120597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -972.5931092443295, + 239.11086545495286, + -3.444074597120597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -975.5931092443295, + 239.11086545495286, + -3.444074597120597 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -978.6087219238281, + 239.76509559631347, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-18-42_78012497/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-18-42_78012497/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b64f73a020139b4ccf9068e00ee1261591d2860d --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-18-42_78012497/pose.jsonl @@ -0,0 +1,482 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -565.3882712353002, + -313.16151174435646, + -0.9351147598114675 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -563.8882712353002, + -310.56343553300314, + -0.9351147598114675 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -562.3882712353002, + -307.9653593216498, + -0.9351147598114675 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -560.8882712353002, + -305.3672831102965, + -0.9351147598114675 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -559.3882712353002, + -302.7692068989432, + -0.9351147598114675 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -557.8882712353002, + -300.1711306875899, + -0.9351147598114675 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -556.3882712353002, + -297.57305447623656, + -0.9351147598114675 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -554.8882712353002, + -294.97497826488325, + -0.9351147598114675 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -553.3882712353002, + -292.37690205352993, + -0.9351147598114675 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -551.8882712353002, + -289.7788258421766, + -0.9351147598114675 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -550.3882712353002, + -287.1807496308233, + -0.9351147598114675 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -548.8882712353002, + -284.58267341947, + -0.9351147598114675 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -547.3882712353002, + -281.98459720811667, + -0.9351147598114675 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -545.8882712353002, + -279.38652099676335, + -0.9351147598114675 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -544.3882712353002, + -276.78844478541004, + -0.9351147598114675 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -542.8882712353002, + -274.1903685740567, + -0.9351147598114675 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -541.3882712353002, + -271.5922923627034, + -0.9351147598114675 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -539.8882712353002, + -268.9942161513501, + -0.9351147598114675 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -538.3882712353002, + -266.3961399399968, + -0.9351147598114675 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -536.8882712353002, + -263.79806372864346, + -0.9351147598114675 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -535.3882712353002, + -261.19998751729014, + -0.9351147598114675 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -533.8882712353002, + -258.6019113059368, + -0.9351147598114675 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -532.3882712353002, + -256.0038350945835, + -0.9351147598114675 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -530.8882712353002, + -253.4057588832302, + -0.9351147598114675 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -529.3882712353002, + -250.80768267187688, + -0.9351147598114675 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -527.8882712353002, + -248.20960646052356, + -0.9351147598114675 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -526.3882712353002, + -245.61153024917024, + -0.9351147598114675 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -524.8882712353002, + -243.01345403781693, + -0.9351147598114675 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -523.3882712353002, + -240.4153778264636, + -0.9351147598114675 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -521.8882712353002, + -237.8173016151103, + -0.9351147598114675 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -520.3882712353002, + -235.21922540375698, + -0.9351147598114675 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -518.8882712353002, + -232.62114919240366, + -0.9351147598114675 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -517.3882712353002, + -230.02307298105035, + -0.9351147598114675 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -515.8882712353002, + -227.42499676969703, + -0.9351147598114675 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -514.3882712353002, + -224.82692055834372, + -0.9351147598114675 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -512.8882712353002, + -222.2288443469904, + -0.9351147598114675 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -510.5901588439941, + -220.83477218627928, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-18-59_552910253/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-18-59_552910253/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6021dbbbbc2beec331790de17ca307849c2aabc8 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-18-59_552910253/pose.jsonl @@ -0,0 +1,378 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 368.29675227702796, + 533.5299720803722, + 2.642786475896398 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 371.29675227702796, + 533.5299720803722, + 2.642786475896398 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 374.29675227702796, + 533.5299720803722, + 2.642786475896398 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 377.29675227702796, + 533.5299720803722, + 2.642786475896398 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 380.29675227702796, + 533.5299720803722, + 2.642786475896398 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 383.29675227702796, + 533.5299720803722, + 2.642786475896398 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 386.29675227702796, + 533.5299720803722, + 2.642786475896398 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 389.29675227702796, + 533.5299720803722, + 2.642786475896398 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 392.29675227702796, + 533.5299720803722, + 2.642786475896398 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 392.29675227702796, + 533.5299720803722, + 2.642786475896398 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 394.8948284883813, + 535.0299720803722, + 2.642786475896398 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 397.4929046997346, + 536.5299720803722, + 2.642786475896398 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 400.0909809110879, + 538.0299720803722, + 2.642786475896398 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 402.6890571224412, + 539.5299720803722, + 2.642786475896398 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 405.28713333379454, + 541.0299720803722, + 2.642786475896398 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 407.88520954514786, + 542.5299720803722, + 2.642786475896398 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 410.4832857565012, + 544.0299720803722, + 2.642786475896398 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 413.0813619678545, + 545.5299720803722, + 2.642786475896398 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 415.6794381792078, + 547.0299720803722, + 2.642786475896398 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 418.2775143905611, + 548.5299720803722, + 2.642786475896398 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 420.87559060191444, + 550.0299720803722, + 2.642786475896398 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 423.47366681326776, + 551.5299720803722, + 2.642786475896398 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 426.07174302462107, + 553.0299720803722, + 2.642786475896398 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 428.6698192359744, + 554.5299720803722, + 2.642786475896398 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 431.2678954473277, + 556.0299720803722, + 2.642786475896398 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 433.865971658681, + 557.5299720803722, + 2.642786475896398 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 436.46404787003434, + 559.0299720803722, + 2.642786475896398 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 439.06212408138765, + 560.5299720803722, + 2.642786475896398 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 439.84950744628907, + 563.3985629272461, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-2-10_1927495994/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-2-10_1927495994/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8166e34de58c09d0d14565358d61b3d3347b7613 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-2-10_1927495994/pose.jsonl @@ -0,0 +1,482 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -156.75244950645703, + -563.6214630060816, + 2.8505185504372204 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -156.75244950645703, + -560.6214630060816, + 2.8505185504372204 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -156.75244950645703, + -557.6214630060816, + 2.8505185504372204 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -156.75244950645703, + -554.6214630060816, + 2.8505185504372204 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -156.75244950645703, + -551.6214630060816, + 2.8505185504372204 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -156.75244950645703, + -548.6214630060816, + 2.8505185504372204 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -156.75244950645703, + -545.6214630060816, + 2.8505185504372204 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -156.75244950645703, + -542.6214630060816, + 2.8505185504372204 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -156.75244950645703, + -539.6214630060816, + 2.8505185504372204 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -156.75244950645703, + -536.6214630060816, + 2.8505185504372204 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -156.75244950645703, + -533.6214630060816, + 2.8505185504372204 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -156.75244950645703, + -530.6214630060816, + 2.8505185504372204 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -156.75244950645703, + -527.6214630060816, + 2.8505185504372204 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -156.75244950645703, + -524.6214630060816, + 2.8505185504372204 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -156.75244950645703, + -521.6214630060816, + 2.8505185504372204 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -156.75244950645703, + -518.6214630060816, + 2.8505185504372204 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -156.75244950645703, + -515.6214630060816, + 2.8505185504372204 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -156.75244950645703, + -512.6214630060816, + 2.8505185504372204 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -156.75244950645703, + -509.6214630060816, + 2.8505185504372204 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -156.75244950645703, + -506.6214630060816, + 2.8505185504372204 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -156.75244950645703, + -506.6214630060816, + 2.8505185504372204 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -158.25244950645703, + -504.0233867947283, + 2.8505185504372204 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -159.75244950645703, + -501.425310583375, + 2.8505185504372204 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -161.25244950645703, + -498.8272343720217, + 2.8505185504372204 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -162.75244950645703, + -496.22915816066836, + 2.8505185504372204 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -164.25244950645703, + -493.63108194931505, + 2.8505185504372204 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -165.75244950645703, + -491.03300573796173, + 2.8505185504372204 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -167.25244950645703, + -488.4349295266084, + 2.8505185504372204 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -168.75244950645703, + -485.8368533152551, + 2.8505185504372204 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -170.25244950645703, + -483.2387771039018, + 2.8505185504372204 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -171.75244950645703, + -480.64070089254847, + 2.8505185504372204 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -173.25244950645703, + -478.04262468119515, + 2.8505185504372204 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -174.75244950645703, + -475.44454846984183, + 2.8505185504372204 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -174.75244950645703, + -475.44454846984183, + 2.8505185504372204 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -174.75244950645703, + -472.44454846984183, + 2.8505185504372204 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -174.75244950645703, + -469.44454846984183, + 2.8505185504372204 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -175.02334197998047, + -467.78616867065426, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-22-16_861543921/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-22-16_861543921/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..be82363d25f92cd6ca7cb2d6feedca1eb9a62c99 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-22-16_861543921/pose.jsonl @@ -0,0 +1,443 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 312.47882555929493, + 712.7030508397039, + -2.192648491048112 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 309.47882555929493, + 712.7030508397039, + -2.192648491048112 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 306.47882555929493, + 712.7030508397039, + -2.192648491048112 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 303.47882555929493, + 712.7030508397039, + -2.192648491048112 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 300.47882555929493, + 712.7030508397039, + -2.192648491048112 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 297.47882555929493, + 712.7030508397039, + -2.192648491048112 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 294.47882555929493, + 712.7030508397039, + -2.192648491048112 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 291.47882555929493, + 712.7030508397039, + -2.192648491048112 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 288.47882555929493, + 712.7030508397039, + -2.192648491048112 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 285.47882555929493, + 712.7030508397039, + -2.192648491048112 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 282.47882555929493, + 712.7030508397039, + -2.192648491048112 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 279.47882555929493, + 712.7030508397039, + -2.192648491048112 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 276.47882555929493, + 712.7030508397039, + -2.192648491048112 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 273.47882555929493, + 712.7030508397039, + -2.192648491048112 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 270.47882555929493, + 712.7030508397039, + -2.192648491048112 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 267.47882555929493, + 712.7030508397039, + -2.192648491048112 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 264.47882555929493, + 712.7030508397039, + -2.192648491048112 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 261.47882555929493, + 712.7030508397039, + -2.192648491048112 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 258.47882555929493, + 712.7030508397039, + -2.192648491048112 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 258.47882555929493, + 712.7030508397039, + -2.192648491048112 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 255.88074934794162, + 711.2030508397039, + -2.192648491048112 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 253.2826731365883, + 709.7030508397039, + -2.192648491048112 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 250.68459692523498, + 708.2030508397039, + -2.192648491048112 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 248.08652071388167, + 706.7030508397039, + -2.192648491048112 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 245.48844450252835, + 705.2030508397039, + -2.192648491048112 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 242.89036829117504, + 703.7030508397039, + -2.192648491048112 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 240.29229207982172, + 702.2030508397039, + -2.192648491048112 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 237.6942158684684, + 700.7030508397039, + -2.192648491048112 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 235.0961396571151, + 699.2030508397039, + -2.192648491048112 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 232.49806344576177, + 697.7030508397039, + -2.192648491048112 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 229.89998723440846, + 696.2030508397039, + -2.192648491048112 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 227.30191102305514, + 694.7030508397039, + -2.192648491048112 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 224.70383481170182, + 693.2030508397039, + -2.192648491048112 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 222.9949237060547, + 690.6306562805175, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-26-12_1974806403/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-26-12_1974806403/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e0ee6975aaa475409dd9bdbe557205de18111f7d --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-26-12_1974806403/pose.jsonl @@ -0,0 +1,443 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -474.9215326783841, + -71.63670511934106, + 4.202339487243954 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -473.4215326783841, + -74.23478133069437, + 4.202339487243954 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -471.9215326783841, + -76.83285754204769, + 4.202339487243954 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -470.4215326783841, + -79.430933753401, + 4.202339487243954 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -468.9215326783841, + -82.02900996475432, + 4.202339487243954 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -467.4215326783841, + -84.62708617610764, + 4.202339487243954 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -465.9215326783841, + -87.22516238746095, + 4.202339487243954 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -464.4215326783841, + -89.82323859881427, + 4.202339487243954 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -462.9215326783841, + -92.42131481016759, + 4.202339487243954 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -461.4215326783841, + -95.0193910215209, + 4.202339487243954 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -459.9215326783841, + -97.61746723287422, + 4.202339487243954 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -458.4215326783841, + -100.21554344422754, + 4.202339487243954 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -456.9215326783841, + -102.81361965558085, + 4.202339487243954 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -455.4215326783841, + -105.41169586693417, + 4.202339487243954 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -453.9215326783841, + -108.00977207828748, + 4.202339487243954 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -452.4215326783841, + -110.6078482896408, + 4.202339487243954 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -450.9215326783841, + -113.20592450099412, + 4.202339487243954 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -449.4215326783841, + -115.80400071234743, + 4.202339487243954 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -447.9215326783841, + -118.40207692370075, + 4.202339487243954 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -447.9215326783841, + -118.40207692370075, + 4.202339487243954 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -447.9215326783841, + -121.40207692370075, + 4.202339487243954 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -447.9215326783841, + -124.40207692370075, + 4.202339487243954 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -447.9215326783841, + -127.40207692370075, + 4.202339487243954 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -447.9215326783841, + -130.40207692370075, + 4.202339487243954 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -447.9215326783841, + -133.40207692370075, + 4.202339487243954 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -447.9215326783841, + -136.40207692370075, + 4.202339487243954 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -447.9215326783841, + -139.40207692370075, + 4.202339487243954 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -447.9215326783841, + -142.40207692370075, + 4.202339487243954 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -447.9215326783841, + -145.40207692370075, + 4.202339487243954 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -447.9215326783841, + -148.40207692370075, + 4.202339487243954 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -447.9215326783841, + -151.40207692370075, + 4.202339487243954 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -447.9215326783841, + -154.40207692370075, + 4.202339487243954 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -447.9215326783841, + -157.40207692370075, + 4.202339487243954 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -445.52278427124025, + -160.4525846862793, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-27-39_1387036159/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-27-39_1387036159/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..062d321637d2260b6eff06d12ba19705fdf1d35f --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-27-39_1387036159/pose.jsonl @@ -0,0 +1,391 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -92.37687288553798, + 301.22166273164186, + -4.275403658014514 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -93.87687288553798, + 303.8197389429952, + -4.275403658014514 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -95.37687288553798, + 306.4178151543485, + -4.275403658014514 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -96.87687288553798, + 309.0158913657018, + -4.275403658014514 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -98.37687288553798, + 311.6139675770551, + -4.275403658014514 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -99.87687288553798, + 314.21204378840844, + -4.275403658014514 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -101.37687288553798, + 316.81011999976175, + -4.275403658014514 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -102.87687288553798, + 319.40819621111507, + -4.275403658014514 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -104.37687288553798, + 322.0062724224684, + -4.275403658014514 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -105.87687288553798, + 324.6043486338217, + -4.275403658014514 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -107.37687288553798, + 327.202424845175, + -4.275403658014514 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -108.87687288553798, + 329.80050105652833, + -4.275403658014514 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -110.37687288553798, + 332.39857726788165, + -4.275403658014514 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -111.87687288553798, + 334.99665347923496, + -4.275403658014514 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -113.37687288553798, + 337.5947296905883, + -4.275403658014514 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -113.37687288553798, + 337.5947296905883, + -4.275403658014514 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -113.37687288553798, + 340.5947296905883, + -4.275403658014514 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -113.37687288553798, + 343.5947296905883, + -4.275403658014514 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -113.37687288553798, + 346.5947296905883, + -4.275403658014514 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -113.37687288553798, + 349.5947296905883, + -4.275403658014514 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -113.37687288553798, + 352.5947296905883, + -4.275403658014514 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -113.37687288553798, + 355.5947296905883, + -4.275403658014514 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -113.37687288553798, + 358.5947296905883, + -4.275403658014514 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -113.37687288553798, + 361.5947296905883, + -4.275403658014514 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -113.37687288553798, + 364.5947296905883, + -4.275403658014514 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -113.37687288553798, + 367.5947296905883, + -4.275403658014514 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -113.37687288553798, + 370.5947296905883, + -4.275403658014514 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -113.37687288553798, + 373.5947296905883, + -4.275403658014514 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -113.37687288553798, + 376.5947296905883, + -4.275403658014514 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -114.1546768951416, + 378.73713836669924, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-3-38_1662981776/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-3-38_1662981776/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a00517f41d54167d526fed539243b192948149fd --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-3-38_1662981776/pose.jsonl @@ -0,0 +1,352 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -379.5802059902444, + -189.7924268478246, + 0.5763020102385807 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -382.1782822015977, + -188.2924268478246, + 0.5763020102385807 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -384.776358412951, + -186.7924268478246, + 0.5763020102385807 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -387.37443462430434, + -185.2924268478246, + 0.5763020102385807 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -389.97251083565766, + -183.7924268478246, + 0.5763020102385807 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -392.570587047011, + -182.2924268478246, + 0.5763020102385807 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -395.1686632583643, + -180.7924268478246, + 0.5763020102385807 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -397.7667394697176, + -179.2924268478246, + 0.5763020102385807 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -400.3648156810709, + -177.7924268478246, + 0.5763020102385807 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -402.96289189242424, + -176.2924268478246, + 0.5763020102385807 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -405.56096810377755, + -174.7924268478246, + 0.5763020102385807 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -408.15904431513087, + -173.2924268478246, + 0.5763020102385807 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -410.7571205264842, + -171.7924268478246, + 0.5763020102385807 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -413.3551967378375, + -170.2924268478246, + 0.5763020102385807 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -415.9532729491908, + -168.7924268478246, + 0.5763020102385807 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -418.55134916054413, + -167.2924268478246, + 0.5763020102385807 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -421.14942537189745, + -165.7924268478246, + 0.5763020102385807 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -423.74750158325077, + -164.2924268478246, + 0.5763020102385807 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -426.3455777946041, + -162.7924268478246, + 0.5763020102385807 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -428.9436540059574, + -161.2924268478246, + 0.5763020102385807 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -431.5417302173107, + -159.7924268478246, + 0.5763020102385807 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -431.5417302173107, + -159.7924268478246, + 0.5763020102385807 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -434.5417302173107, + -159.7924268478246, + 0.5763020102385807 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -437.5417302173107, + -159.7924268478246, + 0.5763020102385807 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -440.5417302173107, + -159.7924268478246, + 0.5763020102385807 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -443.5417302173107, + -159.7924268478246, + 0.5763020102385807 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -445.52278427124025, + -160.4525846862793, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-31-56_402903177/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-31-56_402903177/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ce4d317199e087dda55091602df0ad61d2117b35 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-31-56_402903177/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -182.78863351488712, + 396.0181773485115, + -0.70171242768029 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -179.78863351488712, + 396.0181773485115, + -0.70171242768029 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -176.78863351488712, + 396.0181773485115, + -0.70171242768029 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -173.78863351488712, + 396.0181773485115, + -0.70171242768029 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -170.78863351488712, + 396.0181773485115, + -0.70171242768029 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -167.78863351488712, + 396.0181773485115, + -0.70171242768029 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -164.78863351488712, + 396.0181773485115, + -0.70171242768029 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -161.78863351488712, + 396.0181773485115, + -0.70171242768029 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -158.78863351488712, + 396.0181773485115, + -0.70171242768029 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -155.78863351488712, + 396.0181773485115, + -0.70171242768029 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -152.78863351488712, + 396.0181773485115, + -0.70171242768029 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -149.78863351488712, + 396.0181773485115, + -0.70171242768029 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -149.78863351488712, + 396.0181773485115, + -0.70171242768029 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -147.1905573035338, + 394.5181773485115, + -0.70171242768029 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -144.5924810921805, + 393.0181773485115, + -0.70171242768029 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -141.99440488082718, + 391.5181773485115, + -0.70171242768029 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -139.39632866947386, + 390.0181773485115, + -0.70171242768029 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -136.79825245812054, + 388.5181773485115, + -0.70171242768029 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -134.20017624676723, + 387.0181773485115, + -0.70171242768029 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -131.6021000354139, + 385.5181773485115, + -0.70171242768029 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -129.0040238240606, + 384.0181773485115, + -0.70171242768029 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -126.40594761270728, + 382.5181773485115, + -0.70171242768029 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -123.80787140135396, + 381.0181773485115, + -0.70171242768029 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -121.20979519000065, + 379.5181773485115, + -0.70171242768029 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -121.20979519000065, + 379.5181773485115, + -0.70171242768029 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -118.20979519000065, + 379.5181773485115, + -0.70171242768029 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -115.20979519000065, + 379.5181773485115, + -0.70171242768029 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -114.1546768951416, + 378.73713836669924, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-31-8_70636429/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-31-8_70636429/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c5ece1aba70edc6728be545a35a8c45431429101 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-31-8_70636429/pose.jsonl @@ -0,0 +1,534 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -217.82000828294053, + 37.62797253043051, + 2.576260380272525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -216.32000828294053, + 35.029896319077196, + 2.576260380272525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -214.82000828294053, + 32.43182010772388, + 2.576260380272525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -213.32000828294053, + 29.833743896370564, + 2.576260380272525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -211.82000828294053, + 27.235667685017248, + 2.576260380272525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -210.32000828294053, + 24.63759147366393, + 2.576260380272525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -208.82000828294053, + 22.039515262310616, + 2.576260380272525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -207.32000828294053, + 19.4414390509573, + 2.576260380272525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -205.82000828294053, + 16.843362839603984, + 2.576260380272525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -204.32000828294053, + 14.245286628250668, + 2.576260380272525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -202.82000828294053, + 11.647210416897352, + 2.576260380272525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -201.32000828294053, + 9.049134205544036, + 2.576260380272525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -199.82000828294053, + 6.45105799419072, + 2.576260380272525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -198.32000828294053, + 3.8529817828374036, + 2.576260380272525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -196.82000828294053, + 1.2549055714840875, + 2.576260380272525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -195.32000828294053, + -1.3431706398692285, + 2.576260380272525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -193.82000828294053, + -3.9412468512225445, + 2.576260380272525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -192.32000828294053, + -6.5393230625758605, + 2.576260380272525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -190.82000828294053, + -9.137399273929177, + 2.576260380272525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -189.32000828294053, + -11.735475485282493, + 2.576260380272525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -187.82000828294053, + -14.333551696635809, + 2.576260380272525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -186.32000828294053, + -16.931627907989125, + 2.576260380272525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -184.82000828294053, + -19.52970411934244, + 2.576260380272525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -183.32000828294053, + -22.127780330695757, + 2.576260380272525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -181.82000828294053, + -24.725856542049073, + 2.576260380272525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -180.32000828294053, + -27.32393275340239, + 2.576260380272525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -178.82000828294053, + -29.922008964755705, + 2.576260380272525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -177.32000828294053, + -32.52008517610902, + 2.576260380272525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -175.82000828294053, + -35.11816138746234, + 2.576260380272525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -174.32000828294053, + -37.71623759881565, + 2.576260380272525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -172.82000828294053, + -40.31431381016897, + 2.576260380272525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -171.32000828294053, + -42.912390021522285, + 2.576260380272525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -169.82000828294053, + -45.5104662328756, + 2.576260380272525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -168.32000828294053, + -48.10854244422892, + 2.576260380272525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -166.82000828294053, + -50.70661865558223, + 2.576260380272525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -165.32000828294053, + -53.30469486693555, + 2.576260380272525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -163.82000828294053, + -55.902771078288865, + 2.576260380272525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -162.32000828294053, + -58.50084728964218, + 2.576260380272525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -160.82000828294053, + -61.0989235009955, + 2.576260380272525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -159.32000828294053, + -63.69699971234881, + 2.576260380272525 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -156.47577671051025, + -64.65314291000367, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-34-35_389040743/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-34-35_389040743/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..68c0c9dc74fe14f5eb499b9bfcad9bbb38d26bcf --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-34-35_389040743/pose.jsonl @@ -0,0 +1,300 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -710.5095600540058, + 53.16749591540092, + -3.341576048193935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -707.5095600540058, + 53.16749591540092, + -3.341576048193935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -704.5095600540058, + 53.16749591540092, + -3.341576048193935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -701.5095600540058, + 53.16749591540092, + -3.341576048193935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -698.5095600540058, + 53.16749591540092, + -3.341576048193935 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -698.5095600540058, + 53.16749591540092, + -3.341576048193935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -695.9114838426524, + 54.66749591540092, + -3.341576048193935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -693.313407631299, + 56.16749591540092, + -3.341576048193935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -690.7153314199456, + 57.66749591540092, + -3.341576048193935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -688.1172552085923, + 59.16749591540092, + -3.341576048193935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -685.5191789972389, + 60.66749591540092, + -3.341576048193935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -682.9211027858855, + 62.16749591540092, + -3.341576048193935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -680.3230265745322, + 63.66749591540092, + -3.341576048193935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -677.7249503631788, + 65.16749591540092, + -3.341576048193935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -675.1268741518254, + 66.66749591540092, + -3.341576048193935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -672.528797940472, + 68.16749591540092, + -3.341576048193935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -669.9307217291187, + 69.66749591540092, + -3.341576048193935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -667.3326455177653, + 71.16749591540092, + -3.341576048193935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -664.7345693064119, + 72.66749591540092, + -3.341576048193935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -662.1364930950585, + 74.16749591540092, + -3.341576048193935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -659.5384168837052, + 75.66749591540092, + -3.341576048193935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -656.9403406723518, + 77.16749591540092, + -3.341576048193935 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -655.7620668029786, + 80.36062210083007, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-36-58_1081174232/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-36-58_1081174232/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c77edb30bd7e2f9a990e2478ad1708b936635bd3 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-36-58_1081174232/pose.jsonl @@ -0,0 +1,534 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 234.22170371269127, + 580.9833573263608, + 0.9471034859122778 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 234.22170371269127, + 583.9833573263608, + 0.9471034859122778 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 234.22170371269127, + 586.9833573263608, + 0.9471034859122778 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 234.22170371269127, + 589.9833573263608, + 0.9471034859122778 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 234.22170371269127, + 592.9833573263608, + 0.9471034859122778 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 234.22170371269127, + 595.9833573263608, + 0.9471034859122778 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 234.22170371269127, + 598.9833573263608, + 0.9471034859122778 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 234.22170371269127, + 601.9833573263608, + 0.9471034859122778 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 234.22170371269127, + 604.9833573263608, + 0.9471034859122778 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 234.22170371269127, + 607.9833573263608, + 0.9471034859122778 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 234.22170371269127, + 610.9833573263608, + 0.9471034859122778 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 234.22170371269127, + 613.9833573263608, + 0.9471034859122778 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 234.22170371269127, + 616.9833573263608, + 0.9471034859122778 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 234.22170371269127, + 619.9833573263608, + 0.9471034859122778 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 234.22170371269127, + 622.9833573263608, + 0.9471034859122778 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 234.22170371269127, + 625.9833573263608, + 0.9471034859122778 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 234.22170371269127, + 628.9833573263608, + 0.9471034859122778 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 234.22170371269127, + 631.9833573263608, + 0.9471034859122778 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 234.22170371269127, + 634.9833573263608, + 0.9471034859122778 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 234.22170371269127, + 637.9833573263608, + 0.9471034859122778 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 234.22170371269127, + 640.9833573263608, + 0.9471034859122778 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 234.22170371269127, + 643.9833573263608, + 0.9471034859122778 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 234.22170371269127, + 646.9833573263608, + 0.9471034859122778 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 234.22170371269127, + 649.9833573263608, + 0.9471034859122778 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 234.22170371269127, + 652.9833573263608, + 0.9471034859122778 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 234.22170371269127, + 655.9833573263608, + 0.9471034859122778 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 234.22170371269127, + 658.9833573263608, + 0.9471034859122778 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 234.22170371269127, + 661.9833573263608, + 0.9471034859122778 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 234.22170371269127, + 664.9833573263608, + 0.9471034859122778 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 234.22170371269127, + 667.9833573263608, + 0.9471034859122778 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 234.22170371269127, + 670.9833573263608, + 0.9471034859122778 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 234.22170371269127, + 673.9833573263608, + 0.9471034859122778 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 234.22170371269127, + 676.9833573263608, + 0.9471034859122778 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 234.22170371269127, + 676.9833573263608, + 0.9471034859122778 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 232.72170371269127, + 679.581433537714, + 0.9471034859122778 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 231.22170371269127, + 682.1795097490674, + 0.9471034859122778 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 229.72170371269127, + 684.7775859604208, + 0.9471034859122778 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 229.72170371269127, + 684.7775859604208, + 0.9471034859122778 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 227.12362750133795, + 686.2775859604208, + 0.9471034859122778 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 224.52555128998463, + 687.7775859604208, + 0.9471034859122778 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 222.9949237060547, + 690.6306562805175, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-37-43_1941690360/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-37-43_1941690360/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4850e6d4fb9bc0438741056ef62d3111e97983e3 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-37-43_1941690360/pose.jsonl @@ -0,0 +1,105 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -994.0603822220728, + 393.4336354707454, + 2.0517108022960073 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -995.5603822220728, + 390.8355592593921, + 2.0517108022960073 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -997.0603822220728, + 388.23748304803877, + 2.0517108022960073 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -998.5603822220728, + 385.63940683668545, + 2.0517108022960073 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1000.0603822220728, + 383.04133062533214, + 2.0517108022960073 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1000.0603822220728, + 383.04133062533214, + 2.0517108022960073 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1000.0603822220728, + 380.04133062533214, + 2.0517108022960073 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1041.4117810058594, + 301.62743286132815, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-4-44_1548348142/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-4-44_1548348142/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3b5085e748cd8733cb4cbbb6f87991decc970fef --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-4-44_1548348142/pose.jsonl @@ -0,0 +1,209 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 460.3363714451389, + 386.30847522480923, + 4.042211126865201 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 463.3363714451389, + 386.30847522480923, + 4.042211126865201 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 466.3363714451389, + 386.30847522480923, + 4.042211126865201 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 469.3363714451389, + 386.30847522480923, + 4.042211126865201 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 472.3363714451389, + 386.30847522480923, + 4.042211126865201 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 475.3363714451389, + 386.30847522480923, + 4.042211126865201 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 478.3363714451389, + 386.30847522480923, + 4.042211126865201 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 478.3363714451389, + 386.30847522480923, + 4.042211126865201 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 480.93444765649224, + 387.80847522480923, + 4.042211126865201 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 483.53252386784555, + 389.30847522480923, + 4.042211126865201 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 486.13060007919887, + 390.80847522480923, + 4.042211126865201 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 488.7286762905522, + 392.30847522480923, + 4.042211126865201 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 491.3267525019055, + 393.80847522480923, + 4.042211126865201 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 493.9248287132588, + 395.30847522480923, + 4.042211126865201 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 496.52290492461213, + 396.80847522480923, + 4.042211126865201 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 560.3580831909179, + 412.7992530822754, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-40-30_2004504234/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-40-30_2004504234/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9cc4075efd0da0426fcb8c3cba73b8a17b938683 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-40-30_2004504234/pose.jsonl @@ -0,0 +1,443 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -662.3626743032487, + -39.52501252406299, + 1.4280431076700317 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -660.8626743032487, + -36.92693631270967, + 1.4280431076700317 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -659.3626743032487, + -34.328860101356355, + 1.4280431076700317 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -657.8626743032487, + -31.73078389000304, + 1.4280431076700317 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -656.3626743032487, + -29.132707678649723, + 1.4280431076700317 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -654.8626743032487, + -26.534631467296407, + 1.4280431076700317 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -653.3626743032487, + -23.93655525594309, + 1.4280431076700317 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -651.8626743032487, + -21.338479044589775, + 1.4280431076700317 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -650.3626743032487, + -18.74040283323646, + 1.4280431076700317 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -648.8626743032487, + -16.142326621883143, + 1.4280431076700317 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -647.3626743032487, + -13.544250410529827, + 1.4280431076700317 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -645.8626743032487, + -10.946174199176511, + 1.4280431076700317 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -644.3626743032487, + -8.348097987823195, + 1.4280431076700317 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -642.8626743032487, + -5.750021776469879, + 1.4280431076700317 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -641.3626743032487, + -3.151945565116563, + 1.4280431076700317 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -639.8626743032487, + -0.5538693537632469, + 1.4280431076700317 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -638.3626743032487, + 2.044206857590069, + 1.4280431076700317 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -636.8626743032487, + 4.642283068943385, + 1.4280431076700317 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -635.3626743032487, + 7.240359280296701, + 1.4280431076700317 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -633.8626743032487, + 9.838435491650017, + 1.4280431076700317 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -632.3626743032487, + 12.436511703003333, + 1.4280431076700317 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -632.3626743032487, + 12.436511703003333, + 1.4280431076700317 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -632.3626743032487, + 15.436511703003333, + 1.4280431076700317 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -632.3626743032487, + 18.436511703003333, + 1.4280431076700317 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -632.3626743032487, + 21.436511703003333, + 1.4280431076700317 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -632.3626743032487, + 24.436511703003333, + 1.4280431076700317 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -632.3626743032487, + 27.436511703003333, + 1.4280431076700317 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -632.3626743032487, + 30.436511703003333, + 1.4280431076700317 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -632.3626743032487, + 33.43651170300333, + 1.4280431076700317 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -632.3626743032487, + 36.43651170300333, + 1.4280431076700317 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -632.3626743032487, + 39.43651170300333, + 1.4280431076700317 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -632.3626743032487, + 42.43651170300333, + 1.4280431076700317 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -632.3626743032487, + 45.43651170300333, + 1.4280431076700317 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -629.9300636291504, + 48.19314208984375, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-41-18_2016764524/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-41-18_2016764524/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..94376938e1da88c1ff510f1ac3665678a77204b2 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-41-18_2016764524/pose.jsonl @@ -0,0 +1,417 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -839.7162351226556, + -70.9318843629864, + -2.3151712780483473 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -839.7162351226556, + -67.9318843629864, + -2.3151712780483473 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -839.7162351226556, + -64.9318843629864, + -2.3151712780483473 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -839.7162351226556, + -61.931884362986395, + -2.3151712780483473 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -839.7162351226556, + -58.931884362986395, + -2.3151712780483473 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -839.7162351226556, + -55.931884362986395, + -2.3151712780483473 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -839.7162351226556, + -52.931884362986395, + -2.3151712780483473 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -839.7162351226556, + -49.931884362986395, + -2.3151712780483473 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -839.7162351226556, + -46.931884362986395, + -2.3151712780483473 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -839.7162351226556, + -43.931884362986395, + -2.3151712780483473 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -839.7162351226556, + -40.931884362986395, + -2.3151712780483473 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -839.7162351226556, + -37.931884362986395, + -2.3151712780483473 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -839.7162351226556, + -34.931884362986395, + -2.3151712780483473 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -839.7162351226556, + -31.931884362986395, + -2.3151712780483473 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -839.7162351226556, + -28.931884362986395, + -2.3151712780483473 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -839.7162351226556, + -25.931884362986395, + -2.3151712780483473 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -839.7162351226556, + -22.931884362986395, + -2.3151712780483473 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -839.7162351226556, + -19.931884362986395, + -2.3151712780483473 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -839.7162351226556, + -19.931884362986395, + -2.3151712780483473 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -838.2162351226556, + -17.33380815163308, + -2.3151712780483473 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -836.7162351226556, + -14.735731940279763, + -2.3151712780483473 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -835.2162351226556, + -12.137655728926447, + -2.3151712780483473 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -833.7162351226556, + -9.53957951757313, + -2.3151712780483473 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -832.2162351226556, + -6.941503306219815, + -2.3151712780483473 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -830.7162351226556, + -4.343427094866499, + -2.3151712780483473 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -829.2162351226556, + -1.7453508835131828, + -2.3151712780483473 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -827.7162351226556, + 0.8527253278401332, + -2.3151712780483473 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -826.2162351226556, + 3.4508015391934492, + -2.3151712780483473 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -824.7162351226556, + 6.048877750546765, + -2.3151712780483473 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -823.2162351226556, + 8.646953961900081, + -2.3151712780483473 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -821.7162351226556, + 11.245030173253397, + -2.3151712780483473 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -821.0513497924804, + 12.496731524467467, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-42-24_1411328205/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-42-24_1411328205/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..16a6f763a7f171ff0824bc1373c47796b3cceb35 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-42-24_1411328205/pose.jsonl @@ -0,0 +1,391 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -333.38078158284975, + -210.01264280922618, + 2.4951488977370504 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -333.38078158284975, + -207.01264280922618, + 2.4951488977370504 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -333.38078158284975, + -204.01264280922618, + 2.4951488977370504 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -333.38078158284975, + -201.01264280922618, + 2.4951488977370504 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -333.38078158284975, + -198.01264280922618, + 2.4951488977370504 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -333.38078158284975, + -195.01264280922618, + 2.4951488977370504 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -333.38078158284975, + -192.01264280922618, + 2.4951488977370504 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -333.38078158284975, + -189.01264280922618, + 2.4951488977370504 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -333.38078158284975, + -186.01264280922618, + 2.4951488977370504 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -333.38078158284975, + -183.01264280922618, + 2.4951488977370504 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -333.38078158284975, + -180.01264280922618, + 2.4951488977370504 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -333.38078158284975, + -177.01264280922618, + 2.4951488977370504 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -333.38078158284975, + -174.01264280922618, + 2.4951488977370504 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -333.38078158284975, + -171.01264280922618, + 2.4951488977370504 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -333.38078158284975, + -168.01264280922618, + 2.4951488977370504 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -333.38078158284975, + -165.01264280922618, + 2.4951488977370504 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -333.38078158284975, + -162.01264280922618, + 2.4951488977370504 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -333.38078158284975, + -159.01264280922618, + 2.4951488977370504 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -333.38078158284975, + -156.01264280922618, + 2.4951488977370504 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -333.38078158284975, + -153.01264280922618, + 2.4951488977370504 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -333.38078158284975, + -150.01264280922618, + 2.4951488977370504 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -333.38078158284975, + -147.01264280922618, + 2.4951488977370504 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -333.38078158284975, + -144.01264280922618, + 2.4951488977370504 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -333.38078158284975, + -144.01264280922618, + 2.4951488977370504 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -331.88078158284975, + -141.41456659787286, + 2.4951488977370504 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -330.38078158284975, + -138.81649038651955, + 2.4951488977370504 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -330.38078158284975, + -138.81649038651955, + 2.4951488977370504 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -327.78270537149643, + -137.31649038651955, + 2.4951488977370504 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -325.1846291601431, + -135.81649038651955, + 2.4951488977370504 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -323.98753799438475, + -133.34803604125977, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-44-32_1665204916/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-44-32_1665204916/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ea4f8a09332fff80e19cd1f1cfafae058eade4e3 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-44-32_1665204916/pose.jsonl @@ -0,0 +1,378 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -286.09517566059264, + -393.74749110745654, + -0.2082259398696369 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -283.49709944923933, + -395.24749110745654, + -0.2082259398696369 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -280.899023237886, + -396.74749110745654, + -0.2082259398696369 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -280.899023237886, + -396.74749110745654, + -0.2082259398696369 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -279.399023237886, + -399.34556731880986, + -0.2082259398696369 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -277.899023237886, + -401.9436435301632, + -0.2082259398696369 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -276.399023237886, + -404.5417197415165, + -0.2082259398696369 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -274.899023237886, + -407.1397959528698, + -0.2082259398696369 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -273.399023237886, + -409.7378721642231, + -0.2082259398696369 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -271.899023237886, + -412.33594837557644, + -0.2082259398696369 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -270.399023237886, + -414.93402458692975, + -0.2082259398696369 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -268.899023237886, + -417.53210079828307, + -0.2082259398696369 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -268.899023237886, + -417.53210079828307, + -0.2082259398696369 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -268.899023237886, + -420.53210079828307, + -0.2082259398696369 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -268.899023237886, + -423.53210079828307, + -0.2082259398696369 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -268.899023237886, + -426.53210079828307, + -0.2082259398696369 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -268.899023237886, + -429.53210079828307, + -0.2082259398696369 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -268.899023237886, + -432.53210079828307, + -0.2082259398696369 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -268.899023237886, + -435.53210079828307, + -0.2082259398696369 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -268.899023237886, + -438.53210079828307, + -0.2082259398696369 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -268.899023237886, + -441.53210079828307, + -0.2082259398696369 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -268.899023237886, + -444.53210079828307, + -0.2082259398696369 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -268.899023237886, + -447.53210079828307, + -0.2082259398696369 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -268.899023237886, + -450.53210079828307, + -0.2082259398696369 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -268.899023237886, + -453.53210079828307, + -0.2082259398696369 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -268.899023237886, + -456.53210079828307, + -0.2082259398696369 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -268.899023237886, + -459.53210079828307, + -0.2082259398696369 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -268.899023237886, + -462.53210079828307, + -0.2082259398696369 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -270.6246540832519, + -464.87673126220704, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-46-56_1426819080/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-46-56_1426819080/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..67c5628fcd0459d479d6d84eb606a8244544c923 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-46-56_1426819080/pose.jsonl @@ -0,0 +1,469 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 221.55586499711404, + -229.59537129414144, + 4.105022379915457 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 220.05586499711404, + -232.19344750549476, + 4.105022379915457 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 218.55586499711404, + -234.79152371684808, + 4.105022379915457 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 217.05586499711404, + -237.3895999282014, + 4.105022379915457 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 215.55586499711404, + -239.9876761395547, + 4.105022379915457 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 214.05586499711404, + -242.58575235090802, + 4.105022379915457 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 212.55586499711404, + -245.18382856226134, + 4.105022379915457 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 211.05586499711404, + -247.78190477361466, + 4.105022379915457 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 209.55586499711404, + -250.37998098496797, + 4.105022379915457 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 208.05586499711404, + -252.9780571963213, + 4.105022379915457 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 206.55586499711404, + -255.5761334076746, + 4.105022379915457 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 205.05586499711404, + -258.1742096190279, + 4.105022379915457 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 203.55586499711404, + -260.77228583038124, + 4.105022379915457 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 202.05586499711404, + -263.37036204173455, + 4.105022379915457 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 200.55586499711404, + -265.96843825308787, + 4.105022379915457 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 199.05586499711404, + -268.5665144644412, + 4.105022379915457 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 197.55586499711404, + -271.1645906757945, + 4.105022379915457 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 196.05586499711404, + -273.7626668871478, + 4.105022379915457 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 194.55586499711404, + -276.36074309850113, + 4.105022379915457 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 193.05586499711404, + -278.95881930985445, + 4.105022379915457 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 191.55586499711404, + -281.55689552120776, + 4.105022379915457 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 191.55586499711404, + -281.55689552120776, + 4.105022379915457 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 188.95778878576073, + -283.05689552120776, + 4.105022379915457 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 186.3597125744074, + -284.55689552120776, + 4.105022379915457 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 183.7616363630541, + -286.05689552120776, + 4.105022379915457 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 181.16356015170078, + -287.55689552120776, + 4.105022379915457 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 178.56548394034746, + -289.05689552120776, + 4.105022379915457 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 175.96740772899415, + -290.55689552120776, + 4.105022379915457 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 173.36933151764083, + -292.05689552120776, + 4.105022379915457 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 170.77125530628751, + -293.55689552120776, + 4.105022379915457 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 168.1731790949342, + -295.05689552120776, + 4.105022379915457 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 165.57510288358088, + -296.55689552120776, + 4.105022379915457 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 162.97702667222757, + -298.05689552120776, + 4.105022379915457 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 160.37895046087425, + -299.55689552120776, + 4.105022379915457 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 157.78087424952093, + -301.05689552120776, + 4.105022379915457 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 156.50516716003418, + -301.9973617553711, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-50-3_1106059479/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-50-3_1106059479/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ba7054ae8b79b4236058d085235bd8296d3dc675 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-50-3_1106059479/pose.jsonl @@ -0,0 +1,352 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 64.03577368581294, + 699.8577556393968, + 0.17902326028664373 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 61.03577368581294, + 699.8577556393968, + 0.17902326028664373 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 58.03577368581294, + 699.8577556393968, + 0.17902326028664373 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 55.03577368581294, + 699.8577556393968, + 0.17902326028664373 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 52.03577368581294, + 699.8577556393968, + 0.17902326028664373 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 49.03577368581294, + 699.8577556393968, + 0.17902326028664373 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 46.03577368581294, + 699.8577556393968, + 0.17902326028664373 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 43.03577368581294, + 699.8577556393968, + 0.17902326028664373 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 40.03577368581294, + 699.8577556393968, + 0.17902326028664373 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 37.03577368581294, + 699.8577556393968, + 0.17902326028664373 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 34.03577368581294, + 699.8577556393968, + 0.17902326028664373 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 31.03577368581294, + 699.8577556393968, + 0.17902326028664373 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 28.03577368581294, + 699.8577556393968, + 0.17902326028664373 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 25.03577368581294, + 699.8577556393968, + 0.17902326028664373 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 22.03577368581294, + 699.8577556393968, + 0.17902326028664373 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 19.03577368581294, + 699.8577556393968, + 0.17902326028664373 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 16.03577368581294, + 699.8577556393968, + 0.17902326028664373 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 13.035773685812941, + 699.8577556393968, + 0.17902326028664373 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 10.035773685812941, + 699.8577556393968, + 0.17902326028664373 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 7.035773685812941, + 699.8577556393968, + 0.17902326028664373 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 4.035773685812941, + 699.8577556393968, + 0.17902326028664373 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 4.035773685812941, + 699.8577556393968, + 0.17902326028664373 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1.4376974744596254, + 698.3577556393968, + 0.17902326028664373 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1.1603787368936906, + 696.8577556393968, + 0.17902326028664373 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -3.7584549482470067, + 695.3577556393968, + 0.17902326028664373 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -6.356531159600323, + 693.8577556393968, + 0.17902326028664373 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -5.930885200500488, + 691.5702409362793, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-55-33_2137100237/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-55-33_2137100237/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..da53c9addb64921070cb16854b010b1b9a3c406f --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-55-33_2137100237/pose.jsonl @@ -0,0 +1,391 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -965.4607697063943, + 310.0626126705492, + 1.451216720593255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -965.4607697063943, + 307.0626126705492, + 1.451216720593255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -965.4607697063943, + 304.0626126705492, + 1.451216720593255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -965.4607697063943, + 301.0626126705492, + 1.451216720593255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -965.4607697063943, + 298.0626126705492, + 1.451216720593255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -965.4607697063943, + 295.0626126705492, + 1.451216720593255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -965.4607697063943, + 292.0626126705492, + 1.451216720593255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -965.4607697063943, + 289.0626126705492, + 1.451216720593255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -965.4607697063943, + 286.0626126705492, + 1.451216720593255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -965.4607697063943, + 283.0626126705492, + 1.451216720593255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -965.4607697063943, + 280.0626126705492, + 1.451216720593255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -965.4607697063943, + 277.0626126705492, + 1.451216720593255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -965.4607697063943, + 274.0626126705492, + 1.451216720593255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -965.4607697063943, + 271.0626126705492, + 1.451216720593255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -965.4607697063943, + 268.0626126705492, + 1.451216720593255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -965.4607697063943, + 265.0626126705492, + 1.451216720593255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -965.4607697063943, + 262.0626126705492, + 1.451216720593255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -965.4607697063943, + 259.0626126705492, + 1.451216720593255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -965.4607697063943, + 256.0626126705492, + 1.451216720593255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -965.4607697063943, + 253.06261267054919, + 1.451216720593255 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -965.4607697063943, + 253.06261267054919, + 1.451216720593255 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -965.4607697063943, + 253.06261267054919, + 1.451216720593255 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -968.0588459177477, + 251.56261267054919, + 1.451216720593255 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -970.6569221291011, + 250.06261267054919, + 1.451216720593255 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -973.2549983404544, + 248.56261267054919, + 1.451216720593255 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -975.8530745518078, + 247.06261267054919, + 1.451216720593255 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -975.8530745518078, + 247.06261267054919, + 1.451216720593255 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -977.3530745518078, + 244.46453645919587, + 1.451216720593255 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -978.8530745518078, + 241.86646024784255, + 1.451216720593255 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -978.6087219238281, + 239.76509559631347, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-55-48_126107205/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-55-48_126107205/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..32ed2cd2f6113f712a26b7319ed05eb95ddd3014 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-55-48_126107205/pose.jsonl @@ -0,0 +1,482 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -236.07571524191422, + -559.3256469252457, + 4.266914324342977 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -237.57571524191422, + -556.7275707138924, + 4.266914324342977 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -239.07571524191422, + -554.129494502539, + 4.266914324342977 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -240.57571524191422, + -551.5314182911857, + 4.266914324342977 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -242.07571524191422, + -548.9333420798323, + 4.266914324342977 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -243.57571524191422, + -546.3352658684789, + 4.266914324342977 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -245.07571524191422, + -543.7371896571256, + 4.266914324342977 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -246.57571524191422, + -541.1391134457722, + 4.266914324342977 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -248.07571524191422, + -538.5410372344188, + 4.266914324342977 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -249.57571524191422, + -535.9429610230654, + 4.266914324342977 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -251.07571524191422, + -533.3448848117121, + 4.266914324342977 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -252.57571524191422, + -530.7468086003587, + 4.266914324342977 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -254.07571524191422, + -528.1487323890053, + 4.266914324342977 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -255.57571524191422, + -525.550656177652, + 4.266914324342977 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -257.0757152419142, + -522.9525799662986, + 4.266914324342977 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -258.5757152419142, + -520.3545037549452, + 4.266914324342977 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -260.0757152419142, + -517.7564275435918, + 4.266914324342977 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -261.5757152419142, + -515.1583513322385, + 4.266914324342977 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -263.0757152419142, + -512.5602751208851, + 4.266914324342977 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -264.5757152419142, + -509.96219890953176, + 4.266914324342977 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -266.0757152419142, + -507.36412269817845, + 4.266914324342977 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -267.5757152419142, + -504.76604648682513, + 4.266914324342977 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -269.0757152419142, + -502.1679702754718, + 4.266914324342977 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -270.5757152419142, + -499.5698940641185, + 4.266914324342977 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -270.5757152419142, + -499.5698940641185, + 4.266914324342977 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -270.5757152419142, + -496.5698940641185, + 4.266914324342977 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -270.5757152419142, + -493.5698940641185, + 4.266914324342977 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -270.5757152419142, + -490.5698940641185, + 4.266914324342977 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -270.5757152419142, + -487.5698940641185, + 4.266914324342977 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -270.5757152419142, + -484.5698940641185, + 4.266914324342977 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -270.5757152419142, + -481.5698940641185, + 4.266914324342977 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -270.5757152419142, + -478.5698940641185, + 4.266914324342977 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -270.5757152419142, + -475.5698940641185, + 4.266914324342977 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -270.5757152419142, + -472.5698940641185, + 4.266914324342977 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -270.5757152419142, + -469.5698940641185, + 4.266914324342977 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -270.5757152419142, + -466.5698940641185, + 4.266914324342977 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -270.6246540832519, + -464.87673126220704, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-56-37_1282648518/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-56-37_1282648518/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..040290a4daf70eadb2e41585f34a0788404d7824 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-56-37_1282648518/pose.jsonl @@ -0,0 +1,495 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -533.322701676635, + -220.66043801499305, + -2.8560352588033617 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -530.7246254652816, + -219.16043801499305, + -2.8560352588033617 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -528.1265492539283, + -217.66043801499305, + -2.8560352588033617 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -525.5284730425749, + -216.16043801499305, + -2.8560352588033617 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -522.9303968312215, + -214.66043801499305, + -2.8560352588033617 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -520.3323206198681, + -213.16043801499305, + -2.8560352588033617 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -517.7342444085148, + -211.66043801499305, + -2.8560352588033617 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -515.1361681971614, + -210.16043801499305, + -2.8560352588033617 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -512.538091985808, + -208.66043801499305, + -2.8560352588033617 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -509.9400157744547, + -207.16043801499305, + -2.8560352588033617 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -507.3419395631014, + -205.66043801499305, + -2.8560352588033617 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -504.7438633517481, + -204.16043801499305, + -2.8560352588033617 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -502.14578714039476, + -202.66043801499305, + -2.8560352588033617 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -499.54771092904144, + -201.16043801499305, + -2.8560352588033617 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -496.9496347176881, + -199.66043801499305, + -2.8560352588033617 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -494.3515585063348, + -198.16043801499305, + -2.8560352588033617 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -491.7534822949815, + -196.66043801499305, + -2.8560352588033617 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -489.1554060836282, + -195.16043801499305, + -2.8560352588033617 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -486.55732987227486, + -193.66043801499305, + -2.8560352588033617 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -483.95925366092155, + -192.16043801499305, + -2.8560352588033617 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -481.36117744956823, + -190.66043801499305, + -2.8560352588033617 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -478.7631012382149, + -189.16043801499305, + -2.8560352588033617 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -476.1650250268616, + -187.66043801499305, + -2.8560352588033617 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -473.5669488155083, + -186.16043801499305, + -2.8560352588033617 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -470.96887260415497, + -184.66043801499305, + -2.8560352588033617 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -468.37079639280165, + -183.16043801499305, + -2.8560352588033617 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -465.77272018144834, + -181.66043801499305, + -2.8560352588033617 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -463.174643970095, + -180.16043801499305, + -2.8560352588033617 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -460.5765677587417, + -178.66043801499305, + -2.8560352588033617 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -457.9784915473884, + -177.16043801499305, + -2.8560352588033617 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -455.38041533603507, + -175.66043801499305, + -2.8560352588033617 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -455.38041533603507, + -175.66043801499305, + -2.8560352588033617 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -453.88041533603507, + -173.06236180363973, + -2.8560352588033617 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -452.38041533603507, + -170.46428559228642, + -2.8560352588033617 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -450.88041533603507, + -167.8662093809331, + -2.8560352588033617 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -449.38041533603507, + -165.26813316957978, + -2.8560352588033617 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -447.88041533603507, + -162.67005695822647, + -2.8560352588033617 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -445.52278427124025, + -160.4525846862793, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-59-54_1647149314/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-59-54_1647149314/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..31084e4c3ce06533d175222971c93fbef28dfcb4 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-59-54_1647149314/pose.jsonl @@ -0,0 +1,456 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -700.8513310941419, + -5.902343807126641, + -0.4185591315920538 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -699.3513310941419, + -3.304267595773325, + -0.4185591315920538 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -697.8513310941419, + -0.7061913844200092, + -0.4185591315920538 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -696.3513310941419, + 1.8918848269333068, + -0.4185591315920538 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -694.8513310941419, + 4.489961038286623, + -0.4185591315920538 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -693.3513310941419, + 7.088037249639939, + -0.4185591315920538 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -691.8513310941419, + 9.686113460993255, + -0.4185591315920538 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -690.3513310941419, + 12.284189672346571, + -0.4185591315920538 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -688.8513310941419, + 14.882265883699887, + -0.4185591315920538 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -687.3513310941419, + 17.480342095053203, + -0.4185591315920538 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -685.8513310941419, + 20.07841830640652, + -0.4185591315920538 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -684.3513310941419, + 22.676494517759835, + -0.4185591315920538 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -682.8513310941419, + 25.27457072911315, + -0.4185591315920538 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -681.3513310941419, + 27.872646940466467, + -0.4185591315920538 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -679.8513310941419, + 30.470723151819783, + -0.4185591315920538 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -678.3513310941419, + 33.0687993631731, + -0.4185591315920538 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -676.8513310941419, + 35.666875574526415, + -0.4185591315920538 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -675.3513310941419, + 38.26495178587973, + -0.4185591315920538 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -673.8513310941419, + 40.86302799723305, + -0.4185591315920538 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -672.3513310941419, + 43.46110420858636, + -0.4185591315920538 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -670.8513310941419, + 46.05918041993968, + -0.4185591315920538 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -669.3513310941419, + 48.657256631292995, + -0.4185591315920538 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -667.8513310941419, + 51.25533284264631, + -0.4185591315920538 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -666.3513310941419, + 53.85340905399963, + -0.4185591315920538 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -664.8513310941419, + 56.45148526535294, + -0.4185591315920538 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -663.3513310941419, + 59.04956147670626, + -0.4185591315920538 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -661.8513310941419, + 61.647637688059575, + -0.4185591315920538 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -660.3513310941419, + 64.24571389941289, + -0.4185591315920538 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -658.8513310941419, + 66.84379011076621, + -0.4185591315920538 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -657.3513310941419, + 69.44186632211952, + -0.4185591315920538 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -657.3513310941419, + 69.44186632211952, + -0.4185591315920538 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -657.3513310941419, + 72.44186632211952, + -0.4185591315920538 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -657.3513310941419, + 75.44186632211952, + -0.4185591315920538 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -657.3513310941419, + 78.44186632211952, + -0.4185591315920538 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -655.7620668029786, + 80.36062210083007, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-8-53_114723506/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-8-53_114723506/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8cf358bbf84b6df3d92b557608de10dfffdc6da0 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-8-53_114723506/pose.jsonl @@ -0,0 +1,417 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -268.38272583265, + 760.8962034243225, + -1.6614718796604149 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -271.38272583265, + 760.8962034243225, + -1.6614718796604149 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -274.38272583265, + 760.8962034243225, + -1.6614718796604149 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -277.38272583265, + 760.8962034243225, + -1.6614718796604149 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -280.38272583265, + 760.8962034243225, + -1.6614718796604149 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -283.38272583265, + 760.8962034243225, + -1.6614718796604149 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -286.38272583265, + 760.8962034243225, + -1.6614718796604149 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -289.38272583265, + 760.8962034243225, + -1.6614718796604149 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -292.38272583265, + 760.8962034243225, + -1.6614718796604149 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -295.38272583265, + 760.8962034243225, + -1.6614718796604149 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -298.38272583265, + 760.8962034243225, + -1.6614718796604149 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -301.38272583265, + 760.8962034243225, + -1.6614718796604149 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -304.38272583265, + 760.8962034243225, + -1.6614718796604149 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -307.38272583265, + 760.8962034243225, + -1.6614718796604149 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -310.38272583265, + 760.8962034243225, + -1.6614718796604149 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -310.38272583265, + 760.8962034243225, + -1.6614718796604149 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -312.9808020440033, + 759.3962034243225, + -1.6614718796604149 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -315.57887825535664, + 757.8962034243225, + -1.6614718796604149 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -318.17695446670996, + 756.3962034243225, + -1.6614718796604149 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -320.7750306780633, + 754.8962034243225, + -1.6614718796604149 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -323.3731068894166, + 753.3962034243225, + -1.6614718796604149 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -325.9711831007699, + 751.8962034243225, + -1.6614718796604149 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -328.5692593121232, + 750.3962034243225, + -1.6614718796604149 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -331.16733552347654, + 748.8962034243225, + -1.6614718796604149 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -333.76541173482985, + 747.3962034243225, + -1.6614718796604149 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -336.36348794618317, + 745.8962034243225, + -1.6614718796604149 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -338.9615641575365, + 744.3962034243225, + -1.6614718796604149 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -341.5596403688898, + 742.8962034243225, + -1.6614718796604149 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -341.5596403688898, + 742.8962034243225, + -1.6614718796604149 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -344.5596403688898, + 742.8962034243225, + -1.6614718796604149 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -347.5596403688898, + 742.8962034243225, + -1.6614718796604149 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -349.92333297729493, + 742.416524963379, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_23-14-23_333582338/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_23-14-23_333582338/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..28097db8e36a1a072b6695edaba11c692db7ec26 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_23-14-23_333582338/pose.jsonl @@ -0,0 +1,547 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 360.7324457488977, + 647.7986716165317, + -1.9895586879801828 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 362.2324457488977, + 645.2005954051783, + -1.9895586879801828 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 363.7324457488977, + 642.602519193825, + -1.9895586879801828 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 365.2324457488977, + 640.0044429824716, + -1.9895586879801828 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 366.7324457488977, + 637.4063667711182, + -1.9895586879801828 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 368.2324457488977, + 634.8082905597648, + -1.9895586879801828 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 369.7324457488977, + 632.2102143484115, + -1.9895586879801828 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 371.2324457488977, + 629.6121381370581, + -1.9895586879801828 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 372.7324457488977, + 627.0140619257047, + -1.9895586879801828 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 374.2324457488977, + 624.4159857143513, + -1.9895586879801828 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 375.7324457488977, + 621.817909502998, + -1.9895586879801828 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 377.2324457488977, + 619.2198332916446, + -1.9895586879801828 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 378.7324457488977, + 616.6217570802912, + -1.9895586879801828 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 380.2324457488977, + 614.0236808689378, + -1.9895586879801828 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 381.7324457488977, + 611.4256046575845, + -1.9895586879801828 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 383.2324457488977, + 608.8275284462311, + -1.9895586879801828 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 384.7324457488977, + 606.2294522348777, + -1.9895586879801828 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 386.2324457488977, + 603.6313760235244, + -1.9895586879801828 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 387.7324457488977, + 601.033299812171, + -1.9895586879801828 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 389.2324457488977, + 598.4352236008176, + -1.9895586879801828 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 390.7324457488977, + 595.8371473894642, + -1.9895586879801828 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 392.2324457488977, + 593.2390711781109, + -1.9895586879801828 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 392.2324457488977, + 593.2390711781109, + -1.9895586879801828 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 394.830521960251, + 591.7390711781109, + -1.9895586879801828 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 397.42859817160434, + 590.2390711781109, + -1.9895586879801828 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 400.02667438295765, + 588.7390711781109, + -1.9895586879801828 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 402.62475059431097, + 587.2390711781109, + -1.9895586879801828 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 405.2228268056643, + 585.7390711781109, + -1.9895586879801828 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 407.8209030170176, + 584.2390711781109, + -1.9895586879801828 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 410.4189792283709, + 582.7390711781109, + -1.9895586879801828 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 413.01705543972423, + 581.2390711781109, + -1.9895586879801828 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 415.61513165107755, + 579.7390711781109, + -1.9895586879801828 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 418.21320786243086, + 578.2390711781109, + -1.9895586879801828 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 420.8112840737842, + 576.7390711781109, + -1.9895586879801828 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 423.4093602851375, + 575.2390711781109, + -1.9895586879801828 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 426.0074364964908, + 573.7390711781109, + -1.9895586879801828 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 428.6055127078441, + 572.2390711781109, + -1.9895586879801828 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 431.20358891919744, + 570.7390711781109, + -1.9895586879801828 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 431.20358891919744, + 570.7390711781109, + -1.9895586879801828 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 432.70358891919744, + 568.1409949667575, + -1.9895586879801828 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 434.20358891919744, + 565.5429187554041, + -1.9895586879801828 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 434.03729019165036, + 563.8867979431152, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_23-29-42_1500474762/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_23-29-42_1500474762/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4686750e4c006afda6a813b655b200394984f924 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_23-29-42_1500474762/pose.jsonl @@ -0,0 +1,469 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -646.3100073551005, + 165.25063066668804, + 1.017940007238927 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -647.8100073551005, + 167.84870687804136, + 1.017940007238927 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -649.3100073551005, + 170.44678308939467, + 1.017940007238927 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -650.8100073551005, + 173.044859300748, + 1.017940007238927 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -652.3100073551005, + 175.6429355121013, + 1.017940007238927 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -653.8100073551005, + 178.24101172345462, + 1.017940007238927 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -655.3100073551005, + 180.83908793480794, + 1.017940007238927 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -656.8100073551005, + 183.43716414616125, + 1.017940007238927 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -658.3100073551005, + 186.03524035751457, + 1.017940007238927 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -659.8100073551005, + 188.63331656886788, + 1.017940007238927 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -661.3100073551005, + 191.2313927802212, + 1.017940007238927 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -662.8100073551005, + 193.82946899157452, + 1.017940007238927 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -664.3100073551005, + 196.42754520292783, + 1.017940007238927 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -665.8100073551005, + 199.02562141428115, + 1.017940007238927 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -667.3100073551005, + 201.62369762563446, + 1.017940007238927 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -668.8100073551005, + 204.22177383698778, + 1.017940007238927 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -670.3100073551005, + 206.8198500483411, + 1.017940007238927 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -671.8100073551005, + 209.4179262596944, + 1.017940007238927 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -673.3100073551005, + 212.01600247104773, + 1.017940007238927 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -674.8100073551005, + 214.61407868240104, + 1.017940007238927 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -674.8100073551005, + 214.61407868240104, + 1.017940007238927 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -677.4080835664538, + 216.11407868240104, + 1.017940007238927 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -680.0061597778072, + 217.61407868240104, + 1.017940007238927 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -682.6042359891605, + 219.11407868240104, + 1.017940007238927 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -685.2023122005139, + 220.61407868240104, + 1.017940007238927 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -687.8003884118673, + 222.11407868240104, + 1.017940007238927 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -690.3984646232207, + 223.61407868240104, + 1.017940007238927 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -692.996540834574, + 225.11407868240104, + 1.017940007238927 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -695.5946170459274, + 226.61407868240104, + 1.017940007238927 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -698.1926932572808, + 228.11407868240104, + 1.017940007238927 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -700.7907694686342, + 229.61407868240104, + 1.017940007238927 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -703.3888456799875, + 231.11407868240104, + 1.017940007238927 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -703.3888456799875, + 231.11407868240104, + 1.017940007238927 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -704.8888456799875, + 233.71215489375436, + 1.017940007238927 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -706.3888456799875, + 236.31023110510768, + 1.017940007238927 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -707.2679043579102, + 238.37122535705566, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_23-36-34_1022963858/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_23-36-34_1022963858/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8fc445020d1e81adb54ad2e6200896baabd13797 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_23-36-34_1022963858/pose.jsonl @@ -0,0 +1,482 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -704.8976150586383, + -26.418399821127323, + -3.212742505272661 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -706.3976150586383, + -23.820323609774007, + -3.212742505272661 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -707.8976150586383, + -21.22224739842069, + -3.212742505272661 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -709.3976150586383, + -18.624171187067375, + -3.212742505272661 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -710.8976150586383, + -16.02609497571406, + -3.212742505272661 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -712.3976150586383, + -13.428018764360743, + -3.212742505272661 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -713.8976150586383, + -10.829942553007427, + -3.212742505272661 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -715.3976150586383, + -8.231866341654111, + -3.212742505272661 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -716.8976150586383, + -5.633790130300795, + -3.212742505272661 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -718.3976150586383, + -3.0357139189474793, + -3.212742505272661 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -719.8976150586383, + -0.4376377075941633, + -3.212742505272661 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -721.3976150586383, + 2.1604385037591527, + -3.212742505272661 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -722.8976150586383, + 4.758514715112469, + -3.212742505272661 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -724.3976150586383, + 7.356590926465785, + -3.212742505272661 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -725.8976150586383, + 9.9546671378191, + -3.212742505272661 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -727.3976150586383, + 12.552743349172417, + -3.212742505272661 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -728.8976150586383, + 15.150819560525733, + -3.212742505272661 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -730.3976150586383, + 17.74889577187905, + -3.212742505272661 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -731.8976150586383, + 20.346971983232365, + -3.212742505272661 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -733.3976150586383, + 22.94504819458568, + -3.212742505272661 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -734.8976150586383, + 25.543124405938997, + -3.212742505272661 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -734.8976150586383, + 25.543124405938997, + -3.212742505272661 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -737.4956912699915, + 27.043124405938997, + -3.212742505272661 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -740.0937674813449, + 28.543124405938997, + -3.212742505272661 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -742.6918436926983, + 30.043124405938997, + -3.212742505272661 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -745.2899199040517, + 31.543124405938997, + -3.212742505272661 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -747.887996115405, + 33.043124405939, + -3.212742505272661 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -750.4860723267584, + 34.543124405939, + -3.212742505272661 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -753.0841485381118, + 36.043124405939, + -3.212742505272661 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -755.6822247494651, + 37.543124405939, + -3.212742505272661 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -758.2803009608185, + 39.043124405939, + -3.212742505272661 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -760.8783771721719, + 40.543124405939, + -3.212742505272661 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -763.4764533835253, + 42.043124405939, + -3.212742505272661 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -766.0745295948786, + 43.543124405939, + -3.212742505272661 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -766.0745295948786, + 43.543124405939, + -3.212742505272661 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -767.5745295948786, + 46.14120061729231, + -3.212742505272661 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393205 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -768.8232287597656, + 49.617736358642574, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_23-39-9_1155722604/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_23-39-9_1155722604/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..286c80c711ab14dff451285a3caa7da9aefac35a --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_23-39-9_1155722604/pose.jsonl @@ -0,0 +1,300 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -980.2283796827879, + 217.83424354365394, + 0.3804512425432893 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -981.7283796827879, + 220.43231975500726, + 0.3804512425432893 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -983.2283796827879, + 223.03039596636057, + 0.3804512425432893 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -984.7283796827879, + 225.6284721777139, + 0.3804512425432893 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -986.2283796827879, + 228.2265483890672, + 0.3804512425432893 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -987.7283796827879, + 230.82462460042052, + 0.3804512425432893 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -989.2283796827879, + 233.42270081177384, + 0.3804512425432893 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -990.7283796827879, + 236.02077702312715, + 0.3804512425432893 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -992.2283796827879, + 238.61885323448047, + 0.3804512425432893 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -993.7283796827879, + 241.21692944583378, + 0.3804512425432893 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -995.2283796827879, + 243.8150056571871, + 0.3804512425432893 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -996.7283796827879, + 246.41308186854042, + 0.3804512425432893 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -998.2283796827879, + 249.01115807989373, + 0.3804512425432893 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -999.7283796827879, + 251.60923429124705, + 0.3804512425432893 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -999.7283796827879, + 251.60923429124705, + 0.3804512425432893 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -999.7283796827879, + 254.60923429124705, + 0.3804512425432893 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -999.7283796827879, + 257.60923429124705, + 0.3804512425432893 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -999.7283796827879, + 260.60923429124705, + 0.3804512425432893 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -999.7283796827879, + 263.60923429124705, + 0.3804512425432893 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -999.7283796827879, + 266.60923429124705, + 0.3804512425432893 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -999.7283796827879, + 269.60923429124705, + 0.3804512425432893 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -999.7283796827879, + 272.60923429124705, + 0.3804512425432893 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1002.9734149169922, + 277.3824105834961, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_23-41-18_952062949/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_23-41-18_952062949/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..12eccf4394580cb216a6c0611cb5106cfb319461 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_23-41-18_952062949/pose.jsonl @@ -0,0 +1,547 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -962.478229627361, + 389.11365354246095, + -0.1312886628502028 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -963.978229627361, + 386.51557733110764, + -0.1312886628502028 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -965.478229627361, + 383.9175011197543, + -0.1312886628502028 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -966.978229627361, + 381.319424908401, + -0.1312886628502028 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -968.478229627361, + 378.7213486970477, + -0.1312886628502028 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -969.978229627361, + 376.1232724856944, + -0.1312886628502028 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -971.478229627361, + 373.52519627434106, + -0.1312886628502028 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -972.978229627361, + 370.92712006298774, + -0.1312886628502028 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -974.478229627361, + 368.3290438516344, + -0.1312886628502028 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -975.978229627361, + 365.7309676402811, + -0.1312886628502028 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -977.478229627361, + 363.1328914289278, + -0.1312886628502028 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -978.978229627361, + 360.5348152175745, + -0.1312886628502028 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -980.478229627361, + 357.93673900622116, + -0.1312886628502028 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -981.978229627361, + 355.33866279486784, + -0.1312886628502028 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -983.478229627361, + 352.7405865835145, + -0.1312886628502028 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -984.978229627361, + 350.1425103721612, + -0.1312886628502028 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -986.478229627361, + 347.5444341608079, + -0.1312886628502028 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -987.978229627361, + 344.9463579494546, + -0.1312886628502028 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -989.478229627361, + 342.34828173810126, + -0.1312886628502028 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -990.978229627361, + 339.75020552674795, + -0.1312886628502028 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -992.478229627361, + 337.15212931539463, + -0.1312886628502028 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -993.978229627361, + 334.5540531040413, + -0.1312886628502028 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -995.478229627361, + 331.955976892688, + -0.1312886628502028 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -996.978229627361, + 329.3579006813347, + -0.1312886628502028 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -998.478229627361, + 326.75982446998137, + -0.1312886628502028 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -999.978229627361, + 324.16174825862805, + -0.1312886628502028 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1001.478229627361, + 321.56367204727474, + -0.1312886628502028 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1001.478229627361, + 321.56367204727474, + -0.1312886628502028 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1001.478229627361, + 318.56367204727474, + -0.1312886628502028 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1001.478229627361, + 315.56367204727474, + -0.1312886628502028 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1001.478229627361, + 312.56367204727474, + -0.1312886628502028 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1001.478229627361, + 309.56367204727474, + -0.1312886628502028 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1001.478229627361, + 306.56367204727474, + -0.1312886628502028 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1001.478229627361, + 303.56367204727474, + -0.1312886628502028 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1001.478229627361, + 300.56367204727474, + -0.1312886628502028 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1001.478229627361, + 297.56367204727474, + -0.1312886628502028 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1001.478229627361, + 294.56367204727474, + -0.1312886628502028 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1001.478229627361, + 291.56367204727474, + -0.1312886628502028 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1001.478229627361, + 288.56367204727474, + -0.1312886628502028 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1001.478229627361, + 285.56367204727474, + -0.1312886628502028 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1001.478229627361, + 282.56367204727474, + -0.1312886628502028 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1002.9734149169922, + 277.3824105834961, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_23-41-37_577721120/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_23-41-37_577721120/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d85f3b9db97c88db6fe6d73cd3b0ff3dc682957c --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_23-41-37_577721120/pose.jsonl @@ -0,0 +1,391 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -628.2741412712113, + 200.3716063853078, + -4.775288510723303 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -630.8722174825646, + 201.8716063853078, + -4.775288510723303 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -633.4702936939179, + 203.3716063853078, + -4.775288510723303 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -636.0683699052713, + 204.8716063853078, + -4.775288510723303 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -638.6664461166247, + 206.3716063853078, + -4.775288510723303 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -641.264522327978, + 207.8716063853078, + -4.775288510723303 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -643.8625985393314, + 209.3716063853078, + -4.775288510723303 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -646.4606747506848, + 210.8716063853078, + -4.775288510723303 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -649.0587509620382, + 212.3716063853078, + -4.775288510723303 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -651.6568271733915, + 213.8716063853078, + -4.775288510723303 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -654.2549033847449, + 215.3716063853078, + -4.775288510723303 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -656.8529795960983, + 216.8716063853078, + -4.775288510723303 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -659.4510558074517, + 218.3716063853078, + -4.775288510723303 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -662.049132018805, + 219.8716063853078, + -4.775288510723303 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -664.6472082301584, + 221.3716063853078, + -4.775288510723303 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -667.2452844415118, + 222.8716063853078, + -4.775288510723303 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -669.8433606528652, + 224.3716063853078, + -4.775288510723303 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -672.4414368642185, + 225.8716063853078, + -4.775288510723303 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -675.0395130755719, + 227.3716063853078, + -4.775288510723303 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -677.6375892869253, + 228.8716063853078, + -4.775288510723303 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -680.2356654982786, + 230.3716063853078, + -4.775288510723303 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -682.833741709632, + 231.8716063853078, + -4.775288510723303 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -685.4318179209854, + 233.3716063853078, + -4.775288510723303 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -688.0298941323388, + 234.8716063853078, + -4.775288510723303 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -690.6279703436921, + 236.3716063853078, + -4.775288510723303 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -690.6279703436921, + 236.3716063853078, + -4.775288510723303 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -693.6279703436921, + 236.3716063853078, + -4.775288510723303 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -696.6279703436921, + 236.3716063853078, + -4.775288510723303 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -699.6279703436921, + 236.3716063853078, + -4.775288510723303 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -701.6309753417969, + 238.16310417175293, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_23-46-39_1910858270/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_23-46-39_1910858270/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..386f31ad61c66697f1f08060061e8e1f9fcfe2dc --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_23-46-39_1910858270/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -303.72703268039055, + 625.730074152366, + -4.049978886713355 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -305.22703268039055, + 623.1319979410127, + -4.049978886713355 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -306.72703268039055, + 620.5339217296594, + -4.049978886713355 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -308.22703268039055, + 617.935845518306, + -4.049978886713355 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -309.72703268039055, + 615.3377693069526, + -4.049978886713355 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -311.22703268039055, + 612.7396930955993, + -4.049978886713355 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -312.72703268039055, + 610.1416168842459, + -4.049978886713355 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -314.22703268039055, + 607.5435406728925, + -4.049978886713355 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -315.72703268039055, + 604.9454644615391, + -4.049978886713355 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -317.22703268039055, + 602.3473882501858, + -4.049978886713355 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -318.72703268039055, + 599.7493120388324, + -4.049978886713355 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -320.22703268039055, + 597.151235827479, + -4.049978886713355 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -321.72703268039055, + 594.5531596161256, + -4.049978886713355 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -323.22703268039055, + 591.9550834047723, + -4.049978886713355 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -324.72703268039055, + 589.3570071934189, + -4.049978886713355 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -326.22703268039055, + 586.7589309820655, + -4.049978886713355 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -327.72703268039055, + 584.1608547707121, + -4.049978886713355 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -329.22703268039055, + 581.5627785593588, + -4.049978886713355 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -330.72703268039055, + 578.9647023480054, + -4.049978886713355 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -332.22703268039055, + 576.366626136652, + -4.049978886713355 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -332.22703268039055, + 576.366626136652, + -4.049978886713355 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -332.22703268039055, + 573.366626136652, + -4.049978886713355 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -332.22703268039055, + 570.366626136652, + -4.049978886713355 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -332.22703268039055, + 567.366626136652, + -4.049978886713355 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -332.22703268039055, + 564.366626136652, + -4.049978886713355 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -335.0891884613037, + 561.9170278930663, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_23-47-26_1763794427/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_23-47-26_1763794427/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ef66865197e68c6c98fcc8942b11a21ab3fecae9 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_23-47-26_1763794427/pose.jsonl @@ -0,0 +1,378 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -811.2103525364242, + 28.646366408388435, + 3.7436951052027894 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -808.2103525364242, + 28.646366408388435, + 3.7436951052027894 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -805.2103525364242, + 28.646366408388435, + 3.7436951052027894 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -802.2103525364242, + 28.646366408388435, + 3.7436951052027894 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -799.2103525364242, + 28.646366408388435, + 3.7436951052027894 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -796.2103525364242, + 28.646366408388435, + 3.7436951052027894 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -793.2103525364242, + 28.646366408388435, + 3.7436951052027894 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -790.2103525364242, + 28.646366408388435, + 3.7436951052027894 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -787.2103525364242, + 28.646366408388435, + 3.7436951052027894 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -784.2103525364242, + 28.646366408388435, + 3.7436951052027894 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -781.2103525364242, + 28.646366408388435, + 3.7436951052027894 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -778.2103525364242, + 28.646366408388435, + 3.7436951052027894 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -775.2103525364242, + 28.646366408388435, + 3.7436951052027894 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -772.2103525364242, + 28.646366408388435, + 3.7436951052027894 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -769.2103525364242, + 28.646366408388435, + 3.7436951052027894 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -766.2103525364242, + 28.646366408388435, + 3.7436951052027894 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -763.2103525364242, + 28.646366408388435, + 3.7436951052027894 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -760.2103525364242, + 28.646366408388435, + 3.7436951052027894 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -757.2103525364242, + 28.646366408388435, + 3.7436951052027894 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -754.2103525364242, + 28.646366408388435, + 3.7436951052027894 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -751.2103525364242, + 28.646366408388435, + 3.7436951052027894 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -748.2103525364242, + 28.646366408388435, + 3.7436951052027894 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -745.2103525364242, + 28.646366408388435, + 3.7436951052027894 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -742.2103525364242, + 28.646366408388435, + 3.7436951052027894 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -739.2103525364242, + 28.646366408388435, + 3.7436951052027894 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -739.2103525364242, + 28.646366408388435, + 3.7436951052027894 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -736.612276325071, + 27.146366408388435, + 3.7436951052027894 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -734.0142001137176, + 25.646366408388435, + 3.7436951052027894 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755983084 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -731.5441055297852, + 23.07341537475586, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_23-52-42_525829204/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_23-52-42_525829204/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..55c6f137d9297559596b982cd2b5990340959e20 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_23-52-42_525829204/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -335.4139815122139, + -159.32722520274947, + 4.965864513887757 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -338.01205772356724, + -160.82722520274947, + 4.965864513887757 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -340.61013393492055, + -162.32722520274947, + 4.965864513887757 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -343.20821014627387, + -163.82722520274947, + 4.965864513887757 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -345.8062863576272, + -165.32722520274947, + 4.965864513887757 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -348.4043625689805, + -166.82722520274947, + 4.965864513887757 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -351.0024387803338, + -168.32722520274947, + 4.965864513887757 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -353.60051499168713, + -169.82722520274947, + 4.965864513887757 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -356.19859120304045, + -171.32722520274947, + 4.965864513887757 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -358.79666741439377, + -172.82722520274947, + 4.965864513887757 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -361.3947436257471, + -174.32722520274947, + 4.965864513887757 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -363.9928198371004, + -175.82722520274947, + 4.965864513887757 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -366.5908960484537, + -177.32722520274947, + 4.965864513887757 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -366.5908960484537, + -177.32722520274947, + 4.965864513887757 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -369.5908960484537, + -177.32722520274947, + 4.965864513887757 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -372.5908960484537, + -177.32722520274947, + 4.965864513887757 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -375.5908960484537, + -177.32722520274947, + 4.965864513887757 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -378.5908960484537, + -177.32722520274947, + 4.965864513887757 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -381.5908960484537, + -177.32722520274947, + 4.965864513887757 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -384.5908960484537, + -177.32722520274947, + 4.965864513887757 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -387.5908960484537, + -177.32722520274947, + 4.965864513887757 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -390.5908960484537, + -177.32722520274947, + 4.965864513887757 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -393.5908960484537, + -177.32722520274947, + 4.965864513887757 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -395.0994828796387, + -178.58960372924804, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_23-53-26_199411898/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_23-53-26_199411898/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b457a15d60b6f1a0e860dc52f206975442d62045 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_23-53-26_199411898/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -326.0216145153174, + -516.5167698726307, + 4.626605654012113 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -324.5216145153174, + -513.9186936612773, + 4.626605654012113 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -323.0216145153174, + -511.320617449924, + 4.626605654012113 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -321.5216145153174, + -508.72254123857067, + 4.626605654012113 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -320.0216145153174, + -506.12446502721735, + 4.626605654012113 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -318.5216145153174, + -503.52638881586404, + 4.626605654012113 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -317.0216145153174, + -500.9283126045107, + 4.626605654012113 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -315.5216145153174, + -498.3302363931574, + 4.626605654012113 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -314.0216145153174, + -495.7321601818041, + 4.626605654012113 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -312.5216145153174, + -493.1340839704508, + 4.626605654012113 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -311.0216145153174, + -490.53600775909746, + 4.626605654012113 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -309.5216145153174, + -487.93793154774414, + 4.626605654012113 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -309.5216145153174, + -487.93793154774414, + 4.626605654012113 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -306.9235383039641, + -486.43793154774414, + 4.626605654012113 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -304.3254620926108, + -484.93793154774414, + 4.626605654012113 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -301.7273858812575, + -483.43793154774414, + 4.626605654012113 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -299.12930966990416, + -481.93793154774414, + 4.626605654012113 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -296.53123345855084, + -480.43793154774414, + 4.626605654012113 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -293.9331572471975, + -478.93793154774414, + 4.626605654012113 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -291.3350810358442, + -477.43793154774414, + 4.626605654012113 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -288.7370048244909, + -475.93793154774414, + 4.626605654012113 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -286.1389286131376, + -474.43793154774414, + 4.626605654012113 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -283.54085240178426, + -472.93793154774414, + 4.626605654012113 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -280.94277619043095, + -471.43793154774414, + 4.626605654012113 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -278.34469997907763, + -469.93793154774414, + 4.626605654012113 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -275.7466237677243, + -468.43793154774414, + 4.626605654012113 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -273.148547556371, + -466.93793154774414, + 4.626605654012113 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -270.6246540832519, + -464.87673126220704, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_23-54-44_1626250262/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_23-54-44_1626250262/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d38e4e16dde8853b1e8852f0a895c68737def3f9 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_23-54-44_1626250262/pose.jsonl @@ -0,0 +1,534 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -637.0595906002136, + 190.65658476329787, + -2.444566983886796 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -637.0595906002136, + 187.65658476329787, + -2.444566983886796 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -637.0595906002136, + 184.65658476329787, + -2.444566983886796 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -637.0595906002136, + 181.65658476329787, + -2.444566983886796 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -637.0595906002136, + 178.65658476329787, + -2.444566983886796 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -637.0595906002136, + 175.65658476329787, + -2.444566983886796 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -637.0595906002136, + 172.65658476329787, + -2.444566983886796 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -637.0595906002136, + 169.65658476329787, + -2.444566983886796 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -637.0595906002136, + 166.65658476329787, + -2.444566983886796 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -637.0595906002136, + 163.65658476329787, + -2.444566983886796 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -637.0595906002136, + 160.65658476329787, + -2.444566983886796 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -637.0595906002136, + 157.65658476329787, + -2.444566983886796 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -637.0595906002136, + 154.65658476329787, + -2.444566983886796 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -637.0595906002136, + 151.65658476329787, + -2.444566983886796 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -637.0595906002136, + 148.65658476329787, + -2.444566983886796 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -637.0595906002136, + 145.65658476329787, + -2.444566983886796 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -637.0595906002136, + 142.65658476329787, + -2.444566983886796 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -637.0595906002136, + 139.65658476329787, + -2.444566983886796 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -637.0595906002136, + 136.65658476329787, + -2.444566983886796 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -637.0595906002136, + 133.65658476329787, + -2.444566983886796 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -637.0595906002136, + 130.65658476329787, + -2.444566983886796 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -637.0595906002136, + 127.65658476329787, + -2.444566983886796 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -637.0595906002136, + 124.65658476329787, + -2.444566983886796 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -637.0595906002136, + 121.65658476329787, + -2.444566983886796 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -637.0595906002136, + 118.65658476329787, + -2.444566983886796 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -637.0595906002136, + 115.65658476329787, + -2.444566983886796 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -637.0595906002136, + 112.65658476329787, + -2.444566983886796 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -637.0595906002136, + 109.65658476329787, + -2.444566983886796 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -637.0595906002136, + 109.65658476329787, + -2.444566983886796 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -638.5595906002136, + 107.05850855194456, + -2.444566983886796 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -640.0595906002136, + 104.46043234059124, + -2.444566983886796 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -641.5595906002136, + 101.86235612923792, + -2.444566983886796 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -643.0595906002136, + 99.26427991788461, + -2.444566983886796 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -644.5595906002136, + 96.66620370653129, + -2.444566983886796 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -646.0595906002136, + 94.06812749517798, + -2.444566983886796 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -647.5595906002136, + 91.47005128382466, + -2.444566983886796 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -649.0595906002136, + 88.87197507247134, + -2.444566983886796 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -650.5595906002136, + 86.27389886111803, + -2.444566983886796 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -652.0595906002136, + 83.67582264976471, + -2.444566983886796 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -653.5595906002136, + 81.0777464384114, + -2.444566983886796 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -655.7620668029786, + 80.36062210083007, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_23-55-21_14989683/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_23-55-21_14989683/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4706f16243700cbeffff4b359cc07138ad2a82dc --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_23-55-21_14989683/pose.jsonl @@ -0,0 +1,547 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -334.05407845535393, + 646.909357252484, + -4.398764932959326 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -331.05407845535393, + 646.909357252484, + -4.398764932959326 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -328.05407845535393, + 646.909357252484, + -4.398764932959326 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -325.05407845535393, + 646.909357252484, + -4.398764932959326 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -322.05407845535393, + 646.909357252484, + -4.398764932959326 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -319.05407845535393, + 646.909357252484, + -4.398764932959326 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -316.05407845535393, + 646.909357252484, + -4.398764932959326 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -313.05407845535393, + 646.909357252484, + -4.398764932959326 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -310.05407845535393, + 646.909357252484, + -4.398764932959326 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -307.05407845535393, + 646.909357252484, + -4.398764932959326 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -304.05407845535393, + 646.909357252484, + -4.398764932959326 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -301.05407845535393, + 646.909357252484, + -4.398764932959326 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -298.05407845535393, + 646.909357252484, + -4.398764932959326 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -295.05407845535393, + 646.909357252484, + -4.398764932959326 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -292.05407845535393, + 646.909357252484, + -4.398764932959326 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -289.05407845535393, + 646.909357252484, + -4.398764932959326 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -286.05407845535393, + 646.909357252484, + -4.398764932959326 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -283.05407845535393, + 646.909357252484, + -4.398764932959326 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -280.05407845535393, + 646.909357252484, + -4.398764932959326 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -277.05407845535393, + 646.909357252484, + -4.398764932959326 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -274.05407845535393, + 646.909357252484, + -4.398764932959326 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -271.05407845535393, + 646.909357252484, + -4.398764932959326 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -268.05407845535393, + 646.909357252484, + -4.398764932959326 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -265.05407845535393, + 646.909357252484, + -4.398764932959326 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -262.05407845535393, + 646.909357252484, + -4.398764932959326 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -259.05407845535393, + 646.909357252484, + -4.398764932959326 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -256.05407845535393, + 646.909357252484, + -4.398764932959326 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -253.05407845535393, + 646.909357252484, + -4.398764932959326 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -250.05407845535393, + 646.909357252484, + -4.398764932959326 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -247.05407845535393, + 646.909357252484, + -4.398764932959326 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -247.05407845535393, + 646.909357252484, + -4.398764932959326 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -247.05407845535393, + 646.909357252484, + -4.398764932959326 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -245.55407845535393, + 649.5074334638373, + -4.398764932959326 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -244.05407845535393, + 652.1055096751907, + -4.398764932959326 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -242.55407845535393, + 654.703585886544, + -4.398764932959326 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -242.55407845535393, + 654.703585886544, + -4.398764932959326 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -239.95600224400062, + 656.203585886544, + -4.398764932959326 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -237.3579260326473, + 657.703585886544, + -4.398764932959326 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -234.75984982129398, + 659.203585886544, + -4.398764932959326 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -232.16177360994067, + 660.703585886544, + -4.398764932959326 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -229.56369739858735, + 662.203585886544, + -4.398764932959326 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -227.7933927154541, + 663.3823291015625, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_23-57-57_590335821/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_23-57-57_590335821/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b4fa8265616e7e73b84ca9f6a963c04f8b05190d --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_23-57-57_590335821/pose.jsonl @@ -0,0 +1,417 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -414.8320041792571, + 598.4184823044353, + 2.4794500690670116 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -411.8320041792571, + 598.4184823044353, + 2.4794500690670116 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -408.8320041792571, + 598.4184823044353, + 2.4794500690670116 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -405.8320041792571, + 598.4184823044353, + 2.4794500690670116 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -402.8320041792571, + 598.4184823044353, + 2.4794500690670116 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -402.8320041792571, + 598.4184823044353, + 2.4794500690670116 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -400.2339279679038, + 596.9184823044353, + 2.4794500690670116 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -397.6358517565505, + 595.4184823044353, + 2.4794500690670116 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -395.0377755451972, + 593.9184823044353, + 2.4794500690670116 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -392.43969933384386, + 592.4184823044353, + 2.4794500690670116 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -389.84162312249055, + 590.9184823044353, + 2.4794500690670116 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -387.24354691113723, + 589.4184823044353, + 2.4794500690670116 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -384.6454706997839, + 587.9184823044353, + 2.4794500690670116 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -382.0473944884306, + 586.4184823044353, + 2.4794500690670116 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -379.4493182770773, + 584.9184823044353, + 2.4794500690670116 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -376.85124206572397, + 583.4184823044353, + 2.4794500690670116 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -374.25316585437065, + 581.9184823044353, + 2.4794500690670116 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -371.65508964301733, + 580.4184823044353, + 2.4794500690670116 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -369.057013431664, + 578.9184823044353, + 2.4794500690670116 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -366.4589372203107, + 577.4184823044353, + 2.4794500690670116 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -363.8608610089574, + 575.9184823044353, + 2.4794500690670116 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -361.26278479760407, + 574.4184823044353, + 2.4794500690670116 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -358.66470858625075, + 572.9184823044353, + 2.4794500690670116 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -356.06663237489744, + 571.4184823044353, + 2.4794500690670116 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -353.4685561635441, + 569.9184823044353, + 2.4794500690670116 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -350.8704799521908, + 568.4184823044353, + 2.4794500690670116 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -348.2724037408375, + 566.9184823044353, + 2.4794500690670116 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -345.6743275294842, + 565.4184823044353, + 2.4794500690670116 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -343.07625131813086, + 563.9184823044353, + 2.4794500690670116 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -340.47817510677754, + 562.4184823044353, + 2.4794500690670116 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -337.8800988954242, + 560.9184823044353, + 2.4794500690670116 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -335.0891884613037, + 561.9170278930663, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_23-9-38_1204462951/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_23-9-38_1204462951/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1c4ac6e9dddb6c5ee533171c905050904ea05fb8 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_23-9-38_1204462951/pose.jsonl @@ -0,0 +1,547 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -233.46353561169167, + 752.057498966435, + 2.105049338560975 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -236.46353561169167, + 752.057498966435, + 2.105049338560975 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -239.46353561169167, + 752.057498966435, + 2.105049338560975 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -242.46353561169167, + 752.057498966435, + 2.105049338560975 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -245.46353561169167, + 752.057498966435, + 2.105049338560975 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -248.46353561169167, + 752.057498966435, + 2.105049338560975 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -251.46353561169167, + 752.057498966435, + 2.105049338560975 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -254.46353561169167, + 752.057498966435, + 2.105049338560975 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -257.46353561169167, + 752.057498966435, + 2.105049338560975 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -260.46353561169167, + 752.057498966435, + 2.105049338560975 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -263.46353561169167, + 752.057498966435, + 2.105049338560975 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -266.46353561169167, + 752.057498966435, + 2.105049338560975 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -269.46353561169167, + 752.057498966435, + 2.105049338560975 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -272.46353561169167, + 752.057498966435, + 2.105049338560975 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -275.46353561169167, + 752.057498966435, + 2.105049338560975 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -278.46353561169167, + 752.057498966435, + 2.105049338560975 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -281.46353561169167, + 752.057498966435, + 2.105049338560975 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -284.46353561169167, + 752.057498966435, + 2.105049338560975 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -287.46353561169167, + 752.057498966435, + 2.105049338560975 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -290.46353561169167, + 752.057498966435, + 2.105049338560975 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -293.46353561169167, + 752.057498966435, + 2.105049338560975 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -296.46353561169167, + 752.057498966435, + 2.105049338560975 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -299.46353561169167, + 752.057498966435, + 2.105049338560975 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -302.46353561169167, + 752.057498966435, + 2.105049338560975 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -305.46353561169167, + 752.057498966435, + 2.105049338560975 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -308.46353561169167, + 752.057498966435, + 2.105049338560975 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -311.46353561169167, + 752.057498966435, + 2.105049338560975 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -314.46353561169167, + 752.057498966435, + 2.105049338560975 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -317.46353561169167, + 752.057498966435, + 2.105049338560975 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -320.46353561169167, + 752.057498966435, + 2.105049338560975 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -323.46353561169167, + 752.057498966435, + 2.105049338560975 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -326.46353561169167, + 752.057498966435, + 2.105049338560975 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -329.46353561169167, + 752.057498966435, + 2.105049338560975 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -332.46353561169167, + 752.057498966435, + 2.105049338560975 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -335.46353561169167, + 752.057498966435, + 2.105049338560975 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -335.46353561169167, + 752.057498966435, + 2.105049338560975 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -338.061611823045, + 750.557498966435, + 2.105049338560975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -340.6596880343983, + 749.057498966435, + 2.105049338560975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -343.2577642457516, + 747.557498966435, + 2.105049338560975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -345.85584045710493, + 746.057498966435, + 2.105049338560975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -348.45391666845825, + 744.557498966435, + 2.105049338560975 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -349.92333297729493, + 742.416524963379, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_0-13-36_235202254/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_0-13-36_235202254/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c7a0d8734e551f7f3772fd97329464ee06fbc0b8 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_0-13-36_235202254/pose.jsonl @@ -0,0 +1,300 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -250.09635744677706, + -362.58456719026657, + 3.2877922691055037 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -248.59635744677706, + -365.1826434016199, + 3.2877922691055037 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -247.09635744677706, + -367.7807196129732, + 3.2877922691055037 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -245.59635744677706, + -370.3787958243265, + 3.2877922691055037 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -244.09635744677706, + -372.97687203567983, + 3.2877922691055037 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -242.59635744677706, + -375.57494824703315, + 3.2877922691055037 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -241.09635744677706, + -378.17302445838646, + 3.2877922691055037 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -239.59635744677706, + -380.7711006697398, + 3.2877922691055037 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -238.09635744677706, + -383.3691768810931, + 3.2877922691055037 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -236.59635744677706, + -385.9672530924464, + 3.2877922691055037 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -235.09635744677706, + -388.56532930379973, + 3.2877922691055037 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -233.59635744677706, + -391.16340551515304, + 3.2877922691055037 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -232.09635744677706, + -393.76148172650636, + 3.2877922691055037 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -230.59635744677706, + -396.3595579378597, + 3.2877922691055037 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -229.09635744677706, + -398.957634149213, + 3.2877922691055037 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -227.59635744677706, + -401.5557103605663, + 3.2877922691055037 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -226.09635744677706, + -404.1537865719196, + 3.2877922691055037 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -224.59635744677706, + -406.75186278327294, + 3.2877922691055037 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -223.09635744677706, + -409.34993899462626, + 3.2877922691055037 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -223.09635744677706, + -409.34993899462626, + 3.2877922691055037 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -220.49828123542375, + -410.84993899462626, + 3.2877922691055037 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -217.90020502407043, + -412.34993899462626, + 3.2877922691055037 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -215.0078338623047, + -412.48035171508786, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_0-13-8_380390179/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_0-13-8_380390179/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1a1dd06f272d964f7c7de88adf9f01603274559d --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_0-13-8_380390179/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -829.9458626107086, + 74.2679922014719, + 0.7075687068295018 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -826.9458626107086, + 74.2679922014719, + 0.7075687068295018 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -823.9458626107086, + 74.2679922014719, + 0.7075687068295018 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -820.9458626107086, + 74.2679922014719, + 0.7075687068295018 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -817.9458626107086, + 74.2679922014719, + 0.7075687068295018 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -817.9458626107086, + 74.2679922014719, + 0.7075687068295018 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -815.3477863993553, + 72.7679922014719, + 0.7075687068295018 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -812.7497101880019, + 71.2679922014719, + 0.7075687068295018 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -810.1516339766486, + 69.7679922014719, + 0.7075687068295018 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -807.5535577652952, + 68.2679922014719, + 0.7075687068295018 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -804.9554815539418, + 66.7679922014719, + 0.7075687068295018 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -802.3574053425884, + 65.2679922014719, + 0.7075687068295018 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -799.7593291312351, + 63.7679922014719, + 0.7075687068295018 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -797.1612529198817, + 62.2679922014719, + 0.7075687068295018 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -794.5631767085283, + 60.7679922014719, + 0.7075687068295018 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -791.965100497175, + 59.2679922014719, + 0.7075687068295018 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -789.3670242858216, + 57.7679922014719, + 0.7075687068295018 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -786.7689480744682, + 56.2679922014719, + 0.7075687068295018 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -784.1708718631148, + 54.7679922014719, + 0.7075687068295018 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -781.5727956517615, + 53.2679922014719, + 0.7075687068295018 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -778.9747194404081, + 51.7679922014719, + 0.7075687068295018 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -776.3766432290547, + 50.2679922014719, + 0.7075687068295018 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -776.3766432290547, + 50.2679922014719, + 0.7075687068295018 + ], + "type": "go straight", + "value": 3, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -773.3766432290547, + 50.2679922014719, + 0.7075687068295018 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -770.3766432290547, + 50.2679922014719, + 0.7075687068295018 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -768.8232287597656, + 49.617736358642574, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_0-14-21_1370973813/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_0-14-21_1370973813/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..501182ab70a30492beb76df132ee0d19a09128ba --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_0-14-21_1370973813/pose.jsonl @@ -0,0 +1,495 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -611.8095261994775, + 109.77376929053342, + 2.630364485593634 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -613.3095261994775, + 107.1756930791801, + 2.630364485593634 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -614.8095261994775, + 104.57761686782679, + 2.630364485593634 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -616.3095261994775, + 101.97954065647347, + 2.630364485593634 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -617.8095261994775, + 99.38146444512016, + 2.630364485593634 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -619.3095261994775, + 96.78338823376684, + 2.630364485593634 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -620.8095261994775, + 94.18531202241353, + 2.630364485593634 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -622.3095261994775, + 91.58723581106021, + 2.630364485593634 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -623.8095261994775, + 88.9891595997069, + 2.630364485593634 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -625.3095261994775, + 86.39108338835358, + 2.630364485593634 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -626.8095261994775, + 83.79300717700026, + 2.630364485593634 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -628.3095261994775, + 81.19493096564695, + 2.630364485593634 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -629.8095261994775, + 78.59685475429363, + 2.630364485593634 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -631.3095261994775, + 75.99877854294031, + 2.630364485593634 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -632.8095261994775, + 73.400702331587, + 2.630364485593634 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -634.3095261994775, + 70.80262612023368, + 2.630364485593634 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -635.8095261994775, + 68.20454990888037, + 2.630364485593634 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -637.3095261994775, + 65.60647369752705, + 2.630364485593634 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -638.8095261994775, + 63.008397486173735, + 2.630364485593634 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -640.3095261994775, + 60.41032127482042, + 2.630364485593634 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -641.8095261994775, + 57.8122450634671, + 2.630364485593634 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -643.3095261994775, + 55.21416885211379, + 2.630364485593634 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -644.8095261994775, + 52.61609264076047, + 2.630364485593634 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -646.3095261994775, + 50.018016429407155, + 2.630364485593634 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -647.8095261994775, + 47.41994021805384, + 2.630364485593634 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -649.3095261994775, + 44.82186400670052, + 2.630364485593634 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -650.8095261994775, + 42.22378779534721, + 2.630364485593634 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -652.3095261994775, + 39.62571158399389, + 2.630364485593634 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -653.8095261994775, + 37.027635372640574, + 2.630364485593634 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -655.3095261994775, + 34.42955916128726, + 2.630364485593634 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -656.8095261994775, + 31.831482949933942, + 2.630364485593634 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -658.3095261994775, + 29.233406738580626, + 2.630364485593634 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -659.8095261994775, + 26.63533052722731, + 2.630364485593634 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -661.3095261994775, + 24.037254315873994, + 2.630364485593634 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -662.8095261994775, + 21.43917810452068, + 2.630364485593634 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -664.3095261994775, + 18.841101893167362, + 2.630364485593634 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -665.8095261994775, + 16.243025681814046, + 2.630364485593634 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -667.3111592102051, + 12.556017684936524, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_0-15-43_1240554603/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_0-15-43_1240554603/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..596cc95c1c834a944e9b29557bdc4e226757028d --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_0-15-43_1240554603/pose.jsonl @@ -0,0 +1,508 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -935.9563798556987, + 322.09375638276686, + -1.8359254176515725 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -934.4563798556987, + 324.69183259412017, + -1.8359254176515725 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -932.9563798556987, + 327.2899088054735, + -1.8359254176515725 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -931.4563798556987, + 329.8879850168268, + -1.8359254176515725 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -929.9563798556987, + 332.4860612281801, + -1.8359254176515725 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -928.4563798556987, + 335.08413743953344, + -1.8359254176515725 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -926.9563798556987, + 337.68221365088675, + -1.8359254176515725 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -925.4563798556987, + 340.28028986224007, + -1.8359254176515725 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -923.9563798556987, + 342.8783660735934, + -1.8359254176515725 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -922.4563798556987, + 345.4764422849467, + -1.8359254176515725 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -920.9563798556987, + 348.0745184963, + -1.8359254176515725 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -919.4563798556987, + 350.67259470765333, + -1.8359254176515725 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -917.9563798556987, + 353.27067091900665, + -1.8359254176515725 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -916.4563798556987, + 355.86874713035996, + -1.8359254176515725 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -914.9563798556987, + 358.4668233417133, + -1.8359254176515725 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -913.4563798556987, + 361.0648995530666, + -1.8359254176515725 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -911.9563798556987, + 363.6629757644199, + -1.8359254176515725 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -910.4563798556987, + 366.2610519757732, + -1.8359254176515725 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -908.9563798556987, + 368.85912818712654, + -1.8359254176515725 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -907.4563798556987, + 371.45720439847986, + -1.8359254176515725 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -905.9563798556987, + 374.0552806098332, + -1.8359254176515725 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -904.4563798556987, + 376.6533568211865, + -1.8359254176515725 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -902.9563798556987, + 379.2514330325398, + -1.8359254176515725 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -901.4563798556987, + 381.8495092438931, + -1.8359254176515725 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -899.9563798556987, + 384.44758545524644, + -1.8359254176515725 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -898.4563798556987, + 387.04566166659976, + -1.8359254176515725 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -896.9563798556987, + 389.6437378779531, + -1.8359254176515725 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -895.4563798556987, + 392.2418140893064, + -1.8359254176515725 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -893.9563798556987, + 394.8398903006597, + -1.8359254176515725 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -892.4563798556987, + 397.437966512013, + -1.8359254176515725 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -890.9563798556987, + 400.03604272336634, + -1.8359254176515725 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -889.4563798556987, + 402.63411893471965, + -1.8359254176515725 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -887.9563798556987, + 405.23219514607297, + -1.8359254176515725 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -886.4563798556987, + 407.8302713574263, + -1.8359254176515725 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -884.9563798556987, + 410.4283475687796, + -1.8359254176515725 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -884.9563798556987, + 410.4283475687796, + -1.8359254176515725 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -884.9563798556987, + 413.4283475687796, + -1.8359254176515725 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -884.9563798556987, + 416.4283475687796, + -1.8359254176515725 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -884.2225183105469, + 417.81855880737305, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_0-16-45_803590181/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_0-16-45_803590181/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d0fd695600028b6c6d5ff40c0dad0e643e79c5fb --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_0-16-45_803590181/pose.jsonl @@ -0,0 +1,508 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -69.96352655100313, + -166.14409421689072, + 3.4263433039976405 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -68.46352655100313, + -168.74217042824404, + 3.4263433039976405 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -66.96352655100313, + -171.34024663959735, + 3.4263433039976405 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -65.46352655100313, + -173.93832285095067, + 3.4263433039976405 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -63.96352655100313, + -176.53639906230399, + 3.4263433039976405 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -62.46352655100313, + -179.1344752736573, + 3.4263433039976405 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -60.96352655100313, + -181.73255148501062, + 3.4263433039976405 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -59.46352655100313, + -184.33062769636393, + 3.4263433039976405 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -57.96352655100313, + -186.92870390771725, + 3.4263433039976405 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -56.46352655100313, + -189.52678011907057, + 3.4263433039976405 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -54.96352655100313, + -192.12485633042388, + 3.4263433039976405 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -53.46352655100313, + -194.7229325417772, + 3.4263433039976405 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -51.96352655100313, + -197.3210087531305, + 3.4263433039976405 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -50.46352655100313, + -199.91908496448383, + 3.4263433039976405 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -48.96352655100313, + -202.51716117583715, + 3.4263433039976405 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -47.46352655100313, + -205.11523738719046, + 3.4263433039976405 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -45.96352655100313, + -207.71331359854378, + 3.4263433039976405 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -44.46352655100313, + -210.3113898098971, + 3.4263433039976405 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -42.96352655100313, + -212.9094660212504, + 3.4263433039976405 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -41.46352655100313, + -215.50754223260373, + 3.4263433039976405 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -39.96352655100313, + -218.10561844395704, + 3.4263433039976405 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -38.46352655100313, + -220.70369465531036, + 3.4263433039976405 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -36.96352655100313, + -223.30177086666367, + 3.4263433039976405 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -35.46352655100313, + -225.899847078017, + 3.4263433039976405 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -33.96352655100313, + -228.4979232893703, + 3.4263433039976405 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -32.46352655100313, + -231.09599950072362, + 3.4263433039976405 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -30.963526551003127, + -233.69407571207694, + 3.4263433039976405 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -30.963526551003127, + -233.69407571207694, + 3.4263433039976405 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -28.36545033964981, + -235.19407571207694, + 3.4263433039976405 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -25.767374128296495, + -236.69407571207694, + 3.4263433039976405 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -23.16929791694318, + -238.19407571207694, + 3.4263433039976405 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -20.571221705589863, + -239.69407571207694, + 3.4263433039976405 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -17.973145494236547, + -241.19407571207694, + 3.4263433039976405 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -15.375069282883231, + -242.69407571207694, + 3.4263433039976405 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -12.776993071529915, + -244.19407571207694, + 3.4263433039976405 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -12.776993071529915, + -244.19407571207694, + 3.4263433039976405 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -11.276993071529915, + -246.79215192343025, + 3.4263433039976405 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -9.776993071529915, + -249.39022813478357, + 3.4263433039976405 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -8.725501627922059, + -251.86730323791502, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_0-19-35_1364090032/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_0-19-35_1364090032/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d48b54be4e8d199a0a9d211c271b843c3bddfeb9 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_0-19-35_1364090032/pose.jsonl @@ -0,0 +1,547 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -236.1396424233706, + -367.33731028230005, + -0.34931591600412126 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -234.6396424233706, + -369.93538649365337, + -0.34931591600412126 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -233.1396424233706, + -372.5334627050067, + -0.34931591600412126 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -231.6396424233706, + -375.13153891636, + -0.34931591600412126 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -230.1396424233706, + -377.7296151277133, + -0.34931591600412126 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -228.6396424233706, + -380.32769133906663, + -0.34931591600412126 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -227.1396424233706, + -382.92576755041995, + -0.34931591600412126 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -225.6396424233706, + -385.52384376177326, + -0.34931591600412126 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -224.1396424233706, + -388.1219199731266, + -0.34931591600412126 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -222.6396424233706, + -390.7199961844799, + -0.34931591600412126 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -221.1396424233706, + -393.3180723958332, + -0.34931591600412126 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -219.6396424233706, + -395.9161486071865, + -0.34931591600412126 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -218.1396424233706, + -398.51422481853984, + -0.34931591600412126 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -216.6396424233706, + -401.11230102989316, + -0.34931591600412126 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -215.1396424233706, + -403.7103772412465, + -0.34931591600412126 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -213.6396424233706, + -406.3084534525998, + -0.34931591600412126 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -212.1396424233706, + -408.9065296639531, + -0.34931591600412126 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -210.6396424233706, + -411.5046058753064, + -0.34931591600412126 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -209.1396424233706, + -414.10268208665974, + -0.34931591600412126 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -207.6396424233706, + -416.70075829801306, + -0.34931591600412126 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -206.1396424233706, + -419.2988345093664, + -0.34931591600412126 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -204.6396424233706, + -421.8969107207197, + -0.34931591600412126 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -203.1396424233706, + -424.494986932073, + -0.34931591600412126 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -201.6396424233706, + -427.0930631434263, + -0.34931591600412126 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -200.1396424233706, + -429.69113935477964, + -0.34931591600412126 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -198.6396424233706, + -432.28921556613295, + -0.34931591600412126 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -197.1396424233706, + -434.88729177748627, + -0.34931591600412126 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -195.6396424233706, + -437.4853679888396, + -0.34931591600412126 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -194.1396424233706, + -440.0834442001929, + -0.34931591600412126 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -192.6396424233706, + -442.6815204115462, + -0.34931591600412126 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -191.1396424233706, + -445.27959662289953, + -0.34931591600412126 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -189.6396424233706, + -447.87767283425285, + -0.34931591600412126 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -188.1396424233706, + -450.47574904560616, + -0.34931591600412126 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -186.6396424233706, + -453.0738252569595, + -0.34931591600412126 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -185.1396424233706, + -455.6719014683128, + -0.34931591600412126 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -183.6396424233706, + -458.2699776796661, + -0.34931591600412126 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -182.1396424233706, + -460.86805389101943, + -0.34931591600412126 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -180.6396424233706, + -463.46613010237274, + -0.34931591600412126 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -180.6396424233706, + -463.46613010237274, + -0.34931591600412126 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -178.04156621201727, + -464.96613010237274, + -0.34931591600412126 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -175.44349000066396, + -466.46613010237274, + -0.34931591600412126 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -175.02334197998047, + -467.78616867065426, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_0-29-19_1875641892/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_0-29-19_1875641892/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bc9f06028ea605f6352cb4f26ca643cc59a2d208 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_0-29-19_1875641892/pose.jsonl @@ -0,0 +1,300 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 279.34110059301037, + 711.3278183869384, + -1.565105720941986 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 276.74302438165705, + 709.8278183869384, + -1.565105720941986 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 274.14494817030373, + 708.3278183869384, + -1.565105720941986 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 271.5468719589504, + 706.8278183869384, + -1.565105720941986 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 268.9487957475971, + 705.3278183869384, + -1.565105720941986 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 266.3507195362438, + 703.8278183869384, + -1.565105720941986 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 263.75264332489047, + 702.3278183869384, + -1.565105720941986 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 261.15456711353715, + 700.8278183869384, + -1.565105720941986 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 258.55649090218384, + 699.3278183869384, + -1.565105720941986 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 255.95841469083052, + 697.8278183869384, + -1.565105720941986 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 253.3603384794772, + 696.3278183869384, + -1.565105720941986 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 250.7622622681239, + 694.8278183869384, + -1.565105720941986 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 248.16418605677057, + 693.3278183869384, + -1.565105720941986 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 245.56610984541726, + 691.8278183869384, + -1.565105720941986 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 245.56610984541726, + 691.8278183869384, + -1.565105720941986 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 242.56610984541726, + 691.8278183869384, + -1.565105720941986 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 239.56610984541726, + 691.8278183869384, + -1.565105720941986 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 236.56610984541726, + 691.8278183869384, + -1.565105720941986 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 233.56610984541726, + 691.8278183869384, + -1.565105720941986 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 230.56610984541726, + 691.8278183869384, + -1.565105720941986 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 227.56610984541726, + 691.8278183869384, + -1.565105720941986 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 224.56610984541726, + 691.8278183869384, + -1.565105720941986 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 222.9949237060547, + 690.6306562805175, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_0-38-29_1449228398/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_0-38-29_1449228398/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ca795a7050f94af74f091720eea7b4e9754e0ce4 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_0-38-29_1449228398/pose.jsonl @@ -0,0 +1,495 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -700.3143490914409, + 223.92662556463367, + 2.7419412147242745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -702.9124253027942, + 225.42662556463367, + 2.7419412147242745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -705.5105015141476, + 226.92662556463367, + 2.7419412147242745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -708.1085777255009, + 228.42662556463367, + 2.7419412147242745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -710.7066539368543, + 229.92662556463367, + 2.7419412147242745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -713.3047301482077, + 231.42662556463367, + 2.7419412147242745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -715.902806359561, + 232.92662556463367, + 2.7419412147242745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -718.5008825709144, + 234.42662556463367, + 2.7419412147242745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -721.0989587822678, + 235.92662556463367, + 2.7419412147242745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -723.6970349936212, + 237.42662556463367, + 2.7419412147242745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -726.2951112049745, + 238.92662556463367, + 2.7419412147242745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -728.8931874163279, + 240.42662556463367, + 2.7419412147242745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -731.4912636276813, + 241.92662556463367, + 2.7419412147242745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -734.0893398390347, + 243.42662556463367, + 2.7419412147242745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -736.687416050388, + 244.92662556463367, + 2.7419412147242745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -739.2854922617414, + 246.42662556463367, + 2.7419412147242745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -741.8835684730948, + 247.92662556463367, + 2.7419412147242745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -744.4816446844482, + 249.42662556463367, + 2.7419412147242745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -747.0797208958015, + 250.92662556463367, + 2.7419412147242745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -749.6777971071549, + 252.42662556463367, + 2.7419412147242745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -752.2758733185083, + 253.92662556463367, + 2.7419412147242745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -754.8739495298616, + 255.42662556463367, + 2.7419412147242745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -757.472025741215, + 256.92662556463364, + 2.7419412147242745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991512 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -760.0701019525684, + 258.42662556463364, + 2.7419412147242745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -762.6681781639218, + 259.92662556463364, + 2.7419412147242745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -765.2662543752751, + 261.42662556463364, + 2.7419412147242745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -767.8643305866285, + 262.92662556463364, + 2.7419412147242745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -770.4624067979819, + 264.42662556463364, + 2.7419412147242745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -773.0604830093353, + 265.92662556463364, + 2.7419412147242745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -775.6585592206886, + 267.42662556463364, + 2.7419412147242745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -778.256635432042, + 268.92662556463364, + 2.7419412147242745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -780.8547116433954, + 270.42662556463364, + 2.7419412147242745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -783.4527878547487, + 271.92662556463364, + 2.7419412147242745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -786.0508640661021, + 273.42662556463364, + 2.7419412147242745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -788.6489402774555, + 274.92662556463364, + 2.7419412147242745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -791.2470164888089, + 276.42662556463364, + 2.7419412147242745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -793.8450927001622, + 277.92662556463364, + 2.7419412147242745 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -802.5129748535156, + 284.37975662231446, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_0-4-2_294110991/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_0-4-2_294110991/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..27550ff415eb64429110700f6ead95d014576197 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_0-4-2_294110991/pose.jsonl @@ -0,0 +1,443 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -136.48868025682222, + 680.0860279312118, + -1.185025706026268 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -139.48868025682222, + 680.0860279312118, + -1.185025706026268 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -142.48868025682222, + 680.0860279312118, + -1.185025706026268 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -145.48868025682222, + 680.0860279312118, + -1.185025706026268 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -148.48868025682222, + 680.0860279312118, + -1.185025706026268 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -151.48868025682222, + 680.0860279312118, + -1.185025706026268 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -154.48868025682222, + 680.0860279312118, + -1.185025706026268 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -157.48868025682222, + 680.0860279312118, + -1.185025706026268 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -160.48868025682222, + 680.0860279312118, + -1.185025706026268 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -163.48868025682222, + 680.0860279312118, + -1.185025706026268 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -166.48868025682222, + 680.0860279312118, + -1.185025706026268 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -169.48868025682222, + 680.0860279312118, + -1.185025706026268 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -172.48868025682222, + 680.0860279312118, + -1.185025706026268 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -175.48868025682222, + 680.0860279312118, + -1.185025706026268 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -178.48868025682222, + 680.0860279312118, + -1.185025706026268 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -181.48868025682222, + 680.0860279312118, + -1.185025706026268 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -184.48868025682222, + 680.0860279312118, + -1.185025706026268 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -187.48868025682222, + 680.0860279312118, + -1.185025706026268 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -190.48868025682222, + 680.0860279312118, + -1.185025706026268 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -193.48868025682222, + 680.0860279312118, + -1.185025706026268 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -196.48868025682222, + 680.0860279312118, + -1.185025706026268 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -199.48868025682222, + 680.0860279312118, + -1.185025706026268 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -199.48868025682222, + 680.0860279312118, + -1.185025706026268 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -202.08675646817554, + 678.5860279312118, + -1.185025706026268 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -204.68483267952885, + 677.0860279312118, + -1.185025706026268 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -207.28290889088217, + 675.5860279312118, + -1.185025706026268 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -209.88098510223548, + 674.0860279312118, + -1.185025706026268 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -212.4790613135888, + 672.5860279312118, + -1.185025706026268 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -215.07713752494212, + 671.0860279312118, + -1.185025706026268 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -217.67521373629543, + 669.5860279312118, + -1.185025706026268 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -220.27328994764875, + 668.0860279312118, + -1.185025706026268 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -222.87136615900206, + 666.5860279312118, + -1.185025706026268 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -225.46944237035538, + 665.0860279312118, + -1.185025706026268 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -227.7933927154541, + 663.3823291015625, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_0-41-10_1609416931/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_0-41-10_1609416931/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2f625d234c90bfaf9882e1a2be9c9a4e1b353d4b --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_0-41-10_1609416931/pose.jsonl @@ -0,0 +1,430 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -191.40979823176707, + 745.5315962763925, + -4.568181702447538 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -192.90979823176707, + 742.9335200650391, + -4.568181702447538 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -194.40979823176707, + 740.3354438536858, + -4.568181702447538 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -195.90979823176707, + 737.7373676423324, + -4.568181702447538 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -197.40979823176707, + 735.139291430979, + -4.568181702447538 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -198.90979823176707, + 732.5412152196257, + -4.568181702447538 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -200.40979823176707, + 729.9431390082723, + -4.568181702447538 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -201.90979823176707, + 727.3450627969189, + -4.568181702447538 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -203.40979823176707, + 724.7469865855655, + -4.568181702447538 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -204.90979823176707, + 722.1489103742122, + -4.568181702447538 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -206.40979823176707, + 719.5508341628588, + -4.568181702447538 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -207.90979823176707, + 716.9527579515054, + -4.568181702447538 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -209.40979823176707, + 714.354681740152, + -4.568181702447538 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -210.90979823176707, + 711.7566055287987, + -4.568181702447538 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -212.40979823176707, + 709.1585293174453, + -4.568181702447538 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -213.90979823176707, + 706.5604531060919, + -4.568181702447538 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -215.40979823176707, + 703.9623768947386, + -4.568181702447538 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -216.90979823176707, + 701.3643006833852, + -4.568181702447538 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -218.40979823176707, + 698.7662244720318, + -4.568181702447538 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -219.90979823176707, + 696.1681482606784, + -4.568181702447538 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -221.40979823176707, + 693.5700720493251, + -4.568181702447538 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -222.90979823176707, + 690.9719958379717, + -4.568181702447538 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -224.40979823176707, + 688.3739196266183, + -4.568181702447538 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -225.90979823176707, + 685.775843415265, + -4.568181702447538 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -227.40979823176707, + 683.1777672039116, + -4.568181702447538 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -228.90979823176707, + 680.5796909925582, + -4.568181702447538 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -228.90979823176707, + 680.5796909925582, + -4.568181702447538 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -228.90979823176707, + 677.5796909925582, + -4.568181702447538 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -228.90979823176707, + 674.5796909925582, + -4.568181702447538 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -228.90979823176707, + 671.5796909925582, + -4.568181702447538 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -228.90979823176707, + 668.5796909925582, + -4.568181702447538 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -228.90979823176707, + 665.5796909925582, + -4.568181702447538 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -227.7933927154541, + 663.3823291015625, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_0-50-40_981914693/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_0-50-40_981914693/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..84a468ec467f39c1364c340f551e01d553b23780 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_0-50-40_981914693/pose.jsonl @@ -0,0 +1,469 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -629.1319456897861, + 172.82003701884906, + -0.8883532749607816 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -631.7300219011395, + 174.32003701884906, + -0.8883532749607816 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -634.3280981124929, + 175.82003701884906, + -0.8883532749607816 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -636.9261743238462, + 177.32003701884906, + -0.8883532749607816 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -639.5242505351996, + 178.82003701884906, + -0.8883532749607816 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -642.122326746553, + 180.32003701884906, + -0.8883532749607816 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -644.7204029579063, + 181.82003701884906, + -0.8883532749607816 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -647.3184791692597, + 183.32003701884906, + -0.8883532749607816 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -649.9165553806131, + 184.82003701884906, + -0.8883532749607816 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -652.5146315919665, + 186.32003701884906, + -0.8883532749607816 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -655.1127078033198, + 187.82003701884906, + -0.8883532749607816 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -657.7107840146732, + 189.32003701884906, + -0.8883532749607816 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -660.3088602260266, + 190.82003701884906, + -0.8883532749607816 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -662.90693643738, + 192.32003701884906, + -0.8883532749607816 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -665.5050126487333, + 193.82003701884906, + -0.8883532749607816 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -668.1030888600867, + 195.32003701884906, + -0.8883532749607816 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -670.7011650714401, + 196.82003701884906, + -0.8883532749607816 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -673.2992412827934, + 198.32003701884906, + -0.8883532749607816 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -675.8973174941468, + 199.82003701884906, + -0.8883532749607816 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -678.4953937055002, + 201.32003701884906, + -0.8883532749607816 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -681.0934699168536, + 202.82003701884906, + -0.8883532749607816 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -683.6915461282069, + 204.32003701884906, + -0.8883532749607816 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -683.6915461282069, + 204.32003701884906, + -0.8883532749607816 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -685.1915461282069, + 206.91811323020238, + -0.8883532749607816 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -686.6915461282069, + 209.5161894415557, + -0.8883532749607816 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -688.1915461282069, + 212.114265652909, + -0.8883532749607816 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -689.6915461282069, + 214.71234186426233, + -0.8883532749607816 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -691.1915461282069, + 217.31041807561564, + -0.8883532749607816 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -692.6915461282069, + 219.90849428696896, + -0.8883532749607816 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -694.1915461282069, + 222.50657049832228, + -0.8883532749607816 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -695.6915461282069, + 225.1046467096756, + -0.8883532749607816 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -697.1915461282069, + 227.7027229210289, + -0.8883532749607816 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -698.6915461282069, + 230.30079913238222, + -0.8883532749607816 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -700.1915461282069, + 232.89887534373554, + -0.8883532749607816 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -701.6915461282069, + 235.49695155508886, + -0.8883532749607816 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -701.6309753417969, + 238.16310417175293, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_0-50-57_1375179334/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_0-50-57_1375179334/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..85b9a9017a9fef6a02a8e1ca380d95e8dea37727 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_0-50-57_1375179334/pose.jsonl @@ -0,0 +1,599 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 382.9878091298628, + -36.80761743568094, + 4.262575926071106 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 385.9878091298628, + -36.80761743568094, + 4.262575926071106 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 388.9878091298628, + -36.80761743568094, + 4.262575926071106 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 388.9878091298628, + -36.80761743568094, + 4.262575926071106 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 388.9878091298628, + -36.80761743568094, + 4.262575926071106 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 390.4878091298628, + -34.20954122432762, + 4.262575926071106 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 391.9878091298628, + -31.611465012974307, + 4.262575926071106 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 393.4878091298628, + -29.01338880162099, + 4.262575926071106 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 393.4878091298628, + -29.01338880162099, + 4.262575926071106 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 396.0858853412161, + -27.51338880162099, + 4.262575926071106 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 398.68396155256943, + -26.01338880162099, + 4.262575926071106 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 401.28203776392274, + -24.51338880162099, + 4.262575926071106 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 403.88011397527606, + -23.01338880162099, + 4.262575926071106 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 406.4781901866294, + -21.51338880162099, + 4.262575926071106 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 409.0762663979827, + -20.01338880162099, + 4.262575926071106 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 411.674342609336, + -18.51338880162099, + 4.262575926071106 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 414.2724188206893, + -17.01338880162099, + 4.262575926071106 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 416.87049503204264, + -15.51338880162099, + 4.262575926071106 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 419.46857124339596, + -14.01338880162099, + 4.262575926071106 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 422.0666474547493, + -12.51338880162099, + 4.262575926071106 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 424.6647236661026, + -11.01338880162099, + 4.262575926071106 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 427.2627998774559, + -9.51338880162099, + 4.262575926071106 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 429.8608760888092, + -8.01338880162099, + 4.262575926071106 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 432.45895230016254, + -6.513388801620991, + 4.262575926071106 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 435.05702851151585, + -5.013388801620991, + 4.262575926071106 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 437.65510472286917, + -3.513388801620991, + 4.262575926071106 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 440.2531809342225, + -2.013388801620991, + 4.262575926071106 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 442.8512571455758, + -0.5133888016209911, + 4.262575926071106 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 442.8512571455758, + -0.5133888016209911, + 4.262575926071106 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 444.3512571455758, + 2.084687409732325, + 4.262575926071106 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 445.8512571455758, + 4.682763621085641, + 4.262575926071106 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 445.8512571455758, + 4.682763621085641, + 4.262575926071106 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 448.4493333569291, + 6.182763621085641, + 4.262575926071106 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 451.04740956828243, + 7.682763621085641, + 4.262575926071106 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 453.64548577963575, + 9.182763621085641, + 4.262575926071106 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 456.24356199098906, + 10.682763621085641, + 4.262575926071106 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 458.8416382023424, + 12.182763621085641, + 4.262575926071106 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 461.4397144136957, + 13.682763621085641, + 4.262575926071106 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 464.037790625049, + 15.182763621085641, + 4.262575926071106 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 466.63586683640233, + 16.68276362108564, + 4.262575926071106 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 466.63586683640233, + 16.68276362108564, + 4.262575926071106 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 469.63586683640233, + 16.68276362108564, + 4.262575926071106 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 472.63586683640233, + 16.68276362108564, + 4.262575926071106 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 475.63586683640233, + 16.68276362108564, + 4.262575926071106 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 478.63586683640233, + 16.68276362108564, + 4.262575926071106 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 481.2035136413574, + 19.23793586730957, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_0-55-24_108375482/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_0-55-24_108375482/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f5cde00fa017237926febfbec986e6809d8c6ce4 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_0-55-24_108375482/pose.jsonl @@ -0,0 +1,417 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -950.5820291226295, + 255.5197063835438, + 1.5901658690136466 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -950.5820291226295, + 258.5197063835438, + 1.5901658690136466 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -950.5820291226295, + 261.5197063835438, + 1.5901658690136466 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -950.5820291226295, + 264.5197063835438, + 1.5901658690136466 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -950.5820291226295, + 267.5197063835438, + 1.5901658690136466 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -950.5820291226295, + 270.5197063835438, + 1.5901658690136466 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -950.5820291226295, + 273.5197063835438, + 1.5901658690136466 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -950.5820291226295, + 276.5197063835438, + 1.5901658690136466 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -950.5820291226295, + 279.5197063835438, + 1.5901658690136466 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -950.5820291226295, + 282.5197063835438, + 1.5901658690136466 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -950.5820291226295, + 285.5197063835438, + 1.5901658690136466 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -950.5820291226295, + 288.5197063835438, + 1.5901658690136466 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -950.5820291226295, + 291.5197063835438, + 1.5901658690136466 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -950.5820291226295, + 294.5197063835438, + 1.5901658690136466 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -950.5820291226295, + 297.5197063835438, + 1.5901658690136466 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -950.5820291226295, + 300.5197063835438, + 1.5901658690136466 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -950.5820291226295, + 303.5197063835438, + 1.5901658690136466 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -950.5820291226295, + 306.5197063835438, + 1.5901658690136466 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -950.5820291226295, + 309.5197063835438, + 1.5901658690136466 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -950.5820291226295, + 312.5197063835438, + 1.5901658690136466 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -950.5820291226295, + 315.5197063835438, + 1.5901658690136466 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -950.5820291226295, + 318.5197063835438, + 1.5901658690136466 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -950.5820291226295, + 321.5197063835438, + 1.5901658690136466 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -950.5820291226295, + 324.5197063835438, + 1.5901658690136466 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -950.5820291226295, + 327.5197063835438, + 1.5901658690136466 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -950.5820291226295, + 327.5197063835438, + 1.5901658690136466 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -950.5820291226295, + 327.5197063835438, + 1.5901658690136466 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -947.9839529112762, + 329.0197063835438, + 1.5901658690136466 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -945.3858766999228, + 330.5197063835438, + 1.5901658690136466 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -945.3858766999228, + 330.5197063835438, + 1.5901658690136466 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -943.8858766999228, + 333.1177825948971, + 1.5901658690136466 + ], + "type": "stop", + "value": 0, + "yaw": 1.047197551196588 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -942.5730328369141, + 336.42247901916505, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_0-7-6_82173109/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_0-7-6_82173109/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..35389a8cb94a8d34856f9fcbeaec594b4efb785e --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_0-7-6_82173109/pose.jsonl @@ -0,0 +1,352 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -582.3263181389073, + 77.07047225569534, + 0.2214769795521887 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -585.3263181389073, + 77.07047225569534, + 0.2214769795521887 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -588.3263181389073, + 77.07047225569534, + 0.2214769795521887 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -591.3263181389073, + 77.07047225569534, + 0.2214769795521887 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -594.3263181389073, + 77.07047225569534, + 0.2214769795521887 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -597.3263181389073, + 77.07047225569534, + 0.2214769795521887 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -600.3263181389073, + 77.07047225569534, + 0.2214769795521887 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -603.3263181389073, + 77.07047225569534, + 0.2214769795521887 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -606.3263181389073, + 77.07047225569534, + 0.2214769795521887 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -609.3263181389073, + 77.07047225569534, + 0.2214769795521887 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -612.3263181389073, + 77.07047225569534, + 0.2214769795521887 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -615.3263181389073, + 77.07047225569534, + 0.2214769795521887 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -618.3263181389073, + 77.07047225569534, + 0.2214769795521887 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -621.3263181389073, + 77.07047225569534, + 0.2214769795521887 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -624.3263181389073, + 77.07047225569534, + 0.2214769795521887 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -627.3263181389073, + 77.07047225569534, + 0.2214769795521887 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -630.3263181389073, + 77.07047225569534, + 0.2214769795521887 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -633.3263181389073, + 77.07047225569534, + 0.2214769795521887 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -636.3263181389073, + 77.07047225569534, + 0.2214769795521887 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -639.3263181389073, + 77.07047225569534, + 0.2214769795521887 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -642.3263181389073, + 77.07047225569534, + 0.2214769795521887 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -645.3263181389073, + 77.07047225569534, + 0.2214769795521887 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -648.3263181389073, + 77.07047225569534, + 0.2214769795521887 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -648.3263181389073, + 77.07047225569534, + 0.2214769795521887 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -650.9243943502606, + 78.57047225569534, + 0.2214769795521887 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -653.522470561614, + 80.07047225569534, + 0.2214769795521887 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -655.7620668029786, + 80.36062210083007, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_0-9-39_271059426/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_0-9-39_271059426/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..364e68f2cb30a892b6c876fcf72cd57088c854d7 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_0-9-39_271059426/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -592.9745266314311, + 531.7683321657912, + 1.8604411730008996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -594.4745266314311, + 529.1702559544378, + 1.8604411730008996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -595.9745266314311, + 526.5721797430845, + 1.8604411730008996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -597.4745266314311, + 523.9741035317311, + 1.8604411730008996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -598.9745266314311, + 521.3760273203777, + 1.8604411730008996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -600.4745266314311, + 518.7779511090243, + 1.8604411730008996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -601.9745266314311, + 516.179874897671, + 1.8604411730008996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -603.4745266314311, + 513.5817986863176, + 1.8604411730008996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -604.9745266314311, + 510.9837224749643, + 1.8604411730008996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -606.4745266314311, + 508.38564626361097, + 1.8604411730008996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -607.9745266314311, + 505.78757005225765, + 1.8604411730008996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -609.4745266314311, + 503.18949384090433, + 1.8604411730008996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -610.9745266314311, + 500.591417629551, + 1.8604411730008996 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -610.9745266314311, + 500.591417629551, + 1.8604411730008996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -613.5726028427844, + 499.091417629551, + 1.8604411730008996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -616.1706790541377, + 497.591417629551, + 1.8604411730008996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -618.7687552654911, + 496.091417629551, + 1.8604411730008996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -621.3668314768445, + 494.591417629551, + 1.8604411730008996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -623.9649076881979, + 493.091417629551, + 1.8604411730008996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -626.5629838995512, + 491.591417629551, + 1.8604411730008996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -629.1610601109046, + 490.091417629551, + 1.8604411730008996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -631.759136322258, + 488.591417629551, + 1.8604411730008996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -634.3572125336113, + 487.091417629551, + 1.8604411730008996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -636.9552887449647, + 485.591417629551, + 1.8604411730008996 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -639.5100476074218, + 482.8642652893066, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-11-9_1934660183/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-11-9_1934660183/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d11e185c19a01a38692afeebb2e449a3135e556f --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-11-9_1934660183/pose.jsonl @@ -0,0 +1,430 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -266.63154347269926, + 775.0827320396838, + -3.94348563788502 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -269.2296196840526, + 773.5827320396838, + -3.94348563788502 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -271.8276958954059, + 772.0827320396838, + -3.94348563788502 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -274.4257721067592, + 770.5827320396838, + -3.94348563788502 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -277.0238483181125, + 769.0827320396838, + -3.94348563788502 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -279.62192452946584, + 767.5827320396838, + -3.94348563788502 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -282.22000074081916, + 766.0827320396838, + -3.94348563788502 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -284.8180769521725, + 764.5827320396838, + -3.94348563788502 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -287.4161531635258, + 763.0827320396838, + -3.94348563788502 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -290.0142293748791, + 761.5827320396838, + -3.94348563788502 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -292.6123055862324, + 760.0827320396838, + -3.94348563788502 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -295.21038179758574, + 758.5827320396838, + -3.94348563788502 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -297.80845800893906, + 757.0827320396838, + -3.94348563788502 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -300.4065342202924, + 755.5827320396838, + -3.94348563788502 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -303.0046104316457, + 754.0827320396838, + -3.94348563788502 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -305.602686642999, + 752.5827320396838, + -3.94348563788502 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -308.2007628543523, + 751.0827320396838, + -3.94348563788502 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -310.79883906570564, + 749.5827320396838, + -3.94348563788502 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -313.39691527705895, + 748.0827320396838, + -3.94348563788502 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -315.99499148841227, + 746.5827320396838, + -3.94348563788502 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -318.5930676997656, + 745.0827320396838, + -3.94348563788502 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -318.5930676997656, + 745.0827320396838, + -3.94348563788502 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -321.5930676997656, + 745.0827320396838, + -3.94348563788502 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -324.5930676997656, + 745.0827320396838, + -3.94348563788502 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -327.5930676997656, + 745.0827320396838, + -3.94348563788502 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -330.5930676997656, + 745.0827320396838, + -3.94348563788502 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -333.5930676997656, + 745.0827320396838, + -3.94348563788502 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -336.5930676997656, + 745.0827320396838, + -3.94348563788502 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -339.5930676997656, + 745.0827320396838, + -3.94348563788502 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -342.5930676997656, + 745.0827320396838, + -3.94348563788502 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -345.5930676997656, + 745.0827320396838, + -3.94348563788502 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -348.5930676997656, + 745.0827320396838, + -3.94348563788502 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -349.92333297729493, + 742.416524963379, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-17-51_929588156/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-17-51_929588156/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7a68a1d3f28d458aec7c992ca7ad95f468a8064e --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-17-51_929588156/pose.jsonl @@ -0,0 +1,430 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -744.1102776424282, + -8.97780061080007, + -2.654896532586106 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -741.1102776424282, + -8.97780061080007, + -2.654896532586106 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -738.1102776424282, + -8.97780061080007, + -2.654896532586106 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -735.1102776424282, + -8.97780061080007, + -2.654896532586106 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -732.1102776424282, + -8.97780061080007, + -2.654896532586106 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -729.1102776424282, + -8.97780061080007, + -2.654896532586106 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -726.1102776424282, + -8.97780061080007, + -2.654896532586106 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -723.1102776424282, + -8.97780061080007, + -2.654896532586106 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -720.1102776424282, + -8.97780061080007, + -2.654896532586106 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -717.1102776424282, + -8.97780061080007, + -2.654896532586106 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -714.1102776424282, + -8.97780061080007, + -2.654896532586106 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -711.1102776424282, + -8.97780061080007, + -2.654896532586106 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -708.1102776424282, + -8.97780061080007, + -2.654896532586106 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -705.1102776424282, + -8.97780061080007, + -2.654896532586106 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -702.1102776424282, + -8.97780061080007, + -2.654896532586106 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -699.1102776424282, + -8.97780061080007, + -2.654896532586106 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -696.1102776424282, + -8.97780061080007, + -2.654896532586106 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -693.1102776424282, + -8.97780061080007, + -2.654896532586106 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -690.1102776424282, + -8.97780061080007, + -2.654896532586106 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -687.1102776424282, + -8.97780061080007, + -2.654896532586106 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -687.1102776424282, + -8.97780061080007, + -2.654896532586106 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -687.1102776424282, + -8.97780061080007, + -2.654896532586106 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -685.6102776424282, + -6.379724399446754, + -2.654896532586106 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -684.1102776424282, + -3.7816481880934383, + -2.654896532586106 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -682.6102776424282, + -1.1835719767401223, + -2.654896532586106 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -681.1102776424282, + 1.4145042346131937, + -2.654896532586106 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -679.6102776424282, + 4.01258044596651, + -2.654896532586106 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -678.1102776424282, + 6.610656657319826, + -2.654896532586106 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -678.1102776424282, + 6.610656657319826, + -2.654896532586106 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -675.5122014310748, + 8.110656657319826, + -2.654896532586106 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -672.9141252197214, + 9.610656657319826, + -2.654896532586106 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -670.316049008368, + 11.110656657319826, + -2.654896532586106 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -667.3111592102051, + 12.556017684936524, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-20-40_1567022181/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-20-40_1567022181/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f305ffb0e183eb75c89ce6c0c48396554bb58f6a --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-20-40_1567022181/pose.jsonl @@ -0,0 +1,430 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -797.8835739238076, + 92.44109996764968, + -4.638508550737143 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -797.8835739238076, + 95.44109996764968, + -4.638508550737143 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -797.8835739238076, + 98.44109996764968, + -4.638508550737143 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -797.8835739238076, + 101.44109996764968, + -4.638508550737143 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -797.8835739238076, + 104.44109996764968, + -4.638508550737143 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -797.8835739238076, + 107.44109996764968, + -4.638508550737143 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -797.8835739238076, + 110.44109996764968, + -4.638508550737143 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -797.8835739238076, + 113.44109996764968, + -4.638508550737143 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -797.8835739238076, + 116.44109996764968, + -4.638508550737143 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -797.8835739238076, + 119.44109996764968, + -4.638508550737143 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -797.8835739238076, + 122.44109996764968, + -4.638508550737143 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -797.8835739238076, + 125.44109996764968, + -4.638508550737143 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -797.8835739238076, + 128.44109996764968, + -4.638508550737143 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -797.8835739238076, + 131.44109996764968, + -4.638508550737143 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -797.8835739238076, + 134.44109996764968, + -4.638508550737143 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -797.8835739238076, + 137.44109996764968, + -4.638508550737143 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -797.8835739238076, + 140.44109996764968, + -4.638508550737143 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -797.8835739238076, + 143.44109996764968, + -4.638508550737143 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -797.8835739238076, + 146.44109996764968, + -4.638508550737143 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -797.8835739238076, + 146.44109996764968, + -4.638508550737143 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -796.3835739238076, + 149.039176179003, + -4.638508550737143 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -794.8835739238076, + 151.6372523903563, + -4.638508550737143 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -793.3835739238076, + 154.23532860170963, + -4.638508550737143 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -791.8835739238076, + 156.83340481306294, + -4.638508550737143 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -790.3835739238076, + 159.43148102441626, + -4.638508550737143 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -788.8835739238076, + 162.02955723576957, + -4.638508550737143 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -787.3835739238076, + 164.6276334471229, + -4.638508550737143 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -785.8835739238076, + 167.2257096584762, + -4.638508550737143 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -784.3835739238076, + 169.82378586982952, + -4.638508550737143 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -782.8835739238076, + 172.42186208118284, + -4.638508550737143 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -781.3835739238076, + 175.01993829253615, + -4.638508550737143 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -779.8835739238076, + 177.61801450388947, + -4.638508550737143 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -779.8773458862305, + 179.3161050415039, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-25-50_972125383/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-25-50_972125383/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..410693ee00c28041b4bcf78f1e5cdcb8ebc7f70d --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-25-50_972125383/pose.jsonl @@ -0,0 +1,456 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -155.8766929673691, + -488.99092886468895, + -1.461807879226416 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -157.3766929673691, + -486.39285265333564, + -1.461807879226416 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -158.8766929673691, + -483.7947764419823, + -1.461807879226416 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -160.3766929673691, + -481.196700230629, + -1.461807879226416 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -161.8766929673691, + -478.5986240192757, + -1.461807879226416 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -163.3766929673691, + -476.0005478079224, + -1.461807879226416 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -164.8766929673691, + -473.40247159656906, + -1.461807879226416 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -166.3766929673691, + -470.80439538521574, + -1.461807879226416 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -167.8766929673691, + -468.2063191738624, + -1.461807879226416 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -169.3766929673691, + -465.6082429625091, + -1.461807879226416 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -170.8766929673691, + -463.0101667511558, + -1.461807879226416 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -172.3766929673691, + -460.4120905398025, + -1.461807879226416 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -173.8766929673691, + -457.81401432844916, + -1.461807879226416 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -175.3766929673691, + -455.21593811709585, + -1.461807879226416 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -176.8766929673691, + -452.61786190574253, + -1.461807879226416 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -178.3766929673691, + -450.0197856943892, + -1.461807879226416 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -179.8766929673691, + -447.4217094830359, + -1.461807879226416 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -181.3766929673691, + -444.8236332716826, + -1.461807879226416 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -182.8766929673691, + -442.22555706032927, + -1.461807879226416 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -184.3766929673691, + -439.62748084897595, + -1.461807879226416 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -185.8766929673691, + -437.02940463762263, + -1.461807879226416 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -187.3766929673691, + -434.4313284262693, + -1.461807879226416 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -188.8766929673691, + -431.833252214916, + -1.461807879226416 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -190.3766929673691, + -429.2351760035627, + -1.461807879226416 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -190.3766929673691, + -429.2351760035627, + -1.461807879226416 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -192.97476917872243, + -427.7351760035627, + -1.461807879226416 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -195.57284539007574, + -426.2351760035627, + -1.461807879226416 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -198.17092160142906, + -424.7351760035627, + -1.461807879226416 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -200.76899781278237, + -423.2351760035627, + -1.461807879226416 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -203.3670740241357, + -421.7351760035627, + -1.461807879226416 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -205.965150235489, + -420.2351760035627, + -1.461807879226416 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -208.56322644684232, + -418.7351760035627, + -1.461807879226416 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -211.16130265819564, + -417.2351760035627, + -1.461807879226416 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -213.75937886954895, + -415.7351760035627, + -1.461807879226416 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -215.0078338623047, + -412.48035171508786, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-26-7_1848520019/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-26-7_1848520019/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..71145393908fdebe6f5b1844cd3c8bf968d6a694 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-26-7_1848520019/pose.jsonl @@ -0,0 +1,274 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -764.4659612549549, + 232.41064211689928, + -0.6938838034467381 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -765.9659612549549, + 235.0087183282526, + -0.6938838034467381 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -767.4659612549549, + 237.60679453960591, + -0.6938838034467381 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -768.9659612549549, + 240.20487075095923, + -0.6938838034467381 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -770.4659612549549, + 242.80294696231255, + -0.6938838034467381 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -771.9659612549549, + 245.40102317366586, + -0.6938838034467381 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -773.4659612549549, + 247.99909938501918, + -0.6938838034467381 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -774.9659612549549, + 250.5971755963725, + -0.6938838034467381 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -776.4659612549549, + 253.1952518077258, + -0.6938838034467381 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -777.9659612549549, + 255.79332801907913, + -0.6938838034467381 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -779.4659612549549, + 258.39140423043244, + -0.6938838034467381 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -780.9659612549549, + 260.98948044178576, + -0.6938838034467381 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -782.4659612549549, + 263.5875566531391, + -0.6938838034467381 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -783.9659612549549, + 266.1856328644924, + -0.6938838034467381 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -785.4659612549549, + 268.7837090758457, + -0.6938838034467381 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -786.9659612549549, + 271.381785287199, + -0.6938838034467381 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -786.9659612549549, + 271.381785287199, + -0.6938838034467381 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -789.5640374663083, + 272.881785287199, + -0.6938838034467381 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -792.1621136776616, + 274.381785287199, + -0.6938838034467381 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -794.760189889015, + 275.881785287199, + -0.6938838034467381 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -802.5129748535156, + 284.37975662231446, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-27-12_1953161956/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-27-12_1953161956/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..86660da2a4c801840469d6d6ac07de97aa47e099 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-27-12_1953161956/pose.jsonl @@ -0,0 +1,456 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -574.3644909571294, + 265.6884174369563, + 3.989808258500034 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -577.3644909571294, + 265.6884174369563, + 3.989808258500034 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -580.3644909571294, + 265.6884174369563, + 3.989808258500034 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -583.3644909571294, + 265.6884174369563, + 3.989808258500034 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -586.3644909571294, + 265.6884174369563, + 3.989808258500034 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -589.3644909571294, + 265.6884174369563, + 3.989808258500034 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -592.3644909571294, + 265.6884174369563, + 3.989808258500034 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -595.3644909571294, + 265.6884174369563, + 3.989808258500034 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -598.3644909571294, + 265.6884174369563, + 3.989808258500034 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -601.3644909571294, + 265.6884174369563, + 3.989808258500034 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -604.3644909571294, + 265.6884174369563, + 3.989808258500034 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -607.3644909571294, + 265.6884174369563, + 3.989808258500034 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -610.3644909571294, + 265.6884174369563, + 3.989808258500034 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -613.3644909571294, + 265.6884174369563, + 3.989808258500034 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -616.3644909571294, + 265.6884174369563, + 3.989808258500034 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -619.3644909571294, + 265.6884174369563, + 3.989808258500034 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -622.3644909571294, + 265.6884174369563, + 3.989808258500034 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -625.3644909571294, + 265.6884174369563, + 3.989808258500034 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -628.3644909571294, + 265.6884174369563, + 3.989808258500034 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -631.3644909571294, + 265.6884174369563, + 3.989808258500034 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -634.3644909571294, + 265.6884174369563, + 3.989808258500034 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -637.3644909571294, + 265.6884174369563, + 3.989808258500034 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -640.3644909571294, + 265.6884174369563, + 3.989808258500034 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -643.3644909571294, + 265.6884174369563, + 3.989808258500034 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -646.3644909571294, + 265.6884174369563, + 3.989808258500034 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -649.3644909571294, + 265.6884174369563, + 3.989808258500034 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -652.3644909571294, + 265.6884174369563, + 3.989808258500034 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -652.3644909571294, + 265.6884174369563, + 3.989808258500034 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -654.9625671684828, + 267.1884174369563, + 3.989808258500034 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -657.5606433798362, + 268.6884174369563, + 3.989808258500034 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -660.1587195911895, + 270.1884174369563, + 3.989808258500034 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -662.7567958025429, + 271.6884174369563, + 3.989808258500034 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -665.3548720138963, + 273.1884174369563, + 3.989808258500034 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -667.9529482252497, + 274.6884174369563, + 3.989808258500034 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -669.1686190795898, + 276.07490257263186, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-29-39_788380902/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-29-39_788380902/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3b13849a8333a7f2ce581498581f027823006888 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-29-39_788380902/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -554.7420882618213, + 137.02895603296437, + -0.25094953706985734 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -554.7420882618213, + 140.02895603296437, + -0.25094953706985734 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -554.7420882618213, + 143.02895603296437, + -0.25094953706985734 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -554.7420882618213, + 146.02895603296437, + -0.25094953706985734 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -554.7420882618213, + 149.02895603296437, + -0.25094953706985734 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -554.7420882618213, + 152.02895603296437, + -0.25094953706985734 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -554.7420882618213, + 155.02895603296437, + -0.25094953706985734 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -554.7420882618213, + 158.02895603296437, + -0.25094953706985734 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -554.7420882618213, + 161.02895603296437, + -0.25094953706985734 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -554.7420882618213, + 164.02895603296437, + -0.25094953706985734 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -554.7420882618213, + 167.02895603296437, + -0.25094953706985734 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -554.7420882618213, + 170.02895603296437, + -0.25094953706985734 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -554.7420882618213, + 173.02895603296437, + -0.25094953706985734 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -554.7420882618213, + 176.02895603296437, + -0.25094953706985734 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -554.7420882618213, + 179.02895603296437, + -0.25094953706985734 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -554.7420882618213, + 182.02895603296437, + -0.25094953706985734 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -554.7420882618213, + 185.02895603296437, + -0.25094953706985734 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -554.7420882618213, + 185.02895603296437, + -0.25094953706985734 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -553.2420882618213, + 187.6270322443177, + -0.25094953706985734 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -551.7420882618213, + 190.225108455671, + -0.25094953706985734 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -550.2420882618213, + 192.82318466702432, + -0.25094953706985734 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -548.7420882618213, + 195.42126087837764, + -0.25094953706985734 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -547.2420882618213, + 198.01933708973095, + -0.25094953706985734 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -547.9009985351562, + 200.65022193908692, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-36-24_896925393/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-36-24_896925393/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c292d73108757922e6cfbb025f18639ae6fe57af --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-36-24_896925393/pose.jsonl @@ -0,0 +1,404 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -448.4110824536516, + -45.36962337018323, + 2.3998889995296206 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -448.4110824536516, + -42.36962337018323, + 2.3998889995296206 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -448.4110824536516, + -39.36962337018323, + 2.3998889995296206 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -448.4110824536516, + -36.36962337018323, + 2.3998889995296206 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -448.4110824536516, + -33.36962337018323, + 2.3998889995296206 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -448.4110824536516, + -30.369623370183227, + 2.3998889995296206 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -448.4110824536516, + -27.369623370183227, + 2.3998889995296206 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -448.4110824536516, + -24.369623370183227, + 2.3998889995296206 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -448.4110824536516, + -21.369623370183227, + 2.3998889995296206 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -448.4110824536516, + -18.369623370183227, + 2.3998889995296206 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -448.4110824536516, + -15.369623370183227, + 2.3998889995296206 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -448.4110824536516, + -12.369623370183227, + 2.3998889995296206 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -448.4110824536516, + -9.369623370183227, + 2.3998889995296206 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -448.4110824536516, + -6.369623370183227, + 2.3998889995296206 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -448.4110824536516, + -3.369623370183227, + 2.3998889995296206 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -448.4110824536516, + -0.369623370183227, + 2.3998889995296206 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -448.4110824536516, + 2.630376629816773, + 2.3998889995296206 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -448.4110824536516, + 5.630376629816773, + 2.3998889995296206 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -448.4110824536516, + 8.630376629816773, + 2.3998889995296206 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -448.4110824536516, + 11.630376629816773, + 2.3998889995296206 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -448.4110824536516, + 11.630376629816773, + 2.3998889995296206 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -448.4110824536516, + 11.630376629816773, + 2.3998889995296206 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -445.8130062422983, + 13.130376629816773, + 2.3998889995296206 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -443.21493003094497, + 14.630376629816773, + 2.3998889995296206 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -440.61685381959165, + 16.130376629816773, + 2.3998889995296206 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -438.01877760823834, + 17.630376629816773, + 2.3998889995296206 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -435.420701396885, + 19.130376629816773, + 2.3998889995296206 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -435.420701396885, + 19.130376629816773, + 2.3998889995296206 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -433.920701396885, + 21.72845284117009, + 2.3998889995296206 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -432.420701396885, + 24.326529052523405, + 2.3998889995296206 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -431.4943495178223, + 32.88219102859497, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-37-14_1670372305/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-37-14_1670372305/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..64f442cc8dce5f7091ccd7e0360b0838a28d464d --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-37-14_1670372305/pose.jsonl @@ -0,0 +1,508 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -317.2432521456159, + -382.3852128276485, + 1.8517198055595756 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -314.2432521456159, + -382.3852128276485, + 1.8517198055595756 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -311.2432521456159, + -382.3852128276485, + 1.8517198055595756 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -308.2432521456159, + -382.3852128276485, + 1.8517198055595756 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -305.2432521456159, + -382.3852128276485, + 1.8517198055595756 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -302.2432521456159, + -382.3852128276485, + 1.8517198055595756 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -299.2432521456159, + -382.3852128276485, + 1.8517198055595756 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -296.2432521456159, + -382.3852128276485, + 1.8517198055595756 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -293.2432521456159, + -382.3852128276485, + 1.8517198055595756 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -290.2432521456159, + -382.3852128276485, + 1.8517198055595756 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -287.2432521456159, + -382.3852128276485, + 1.8517198055595756 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -284.2432521456159, + -382.3852128276485, + 1.8517198055595756 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -281.2432521456159, + -382.3852128276485, + 1.8517198055595756 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -278.2432521456159, + -382.3852128276485, + 1.8517198055595756 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -275.2432521456159, + -382.3852128276485, + 1.8517198055595756 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -272.2432521456159, + -382.3852128276485, + 1.8517198055595756 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -272.2432521456159, + -382.3852128276485, + 1.8517198055595756 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -269.64517593426257, + -383.8852128276485, + 1.8517198055595756 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -267.04709972290925, + -385.3852128276485, + 1.8517198055595756 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -264.44902351155594, + -386.8852128276485, + 1.8517198055595756 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -261.8509473002026, + -388.3852128276485, + 1.8517198055595756 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -259.2528710888493, + -389.8852128276485, + 1.8517198055595756 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -256.654794877496, + -391.3852128276485, + 1.8517198055595756 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -254.05671866614267, + -392.8852128276485, + 1.8517198055595756 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -251.45864245478936, + -394.3852128276485, + 1.8517198055595756 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -248.86056624343604, + -395.8852128276485, + 1.8517198055595756 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -246.26249003208272, + -397.3852128276485, + 1.8517198055595756 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -243.6644138207294, + -398.8852128276485, + 1.8517198055595756 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -241.0663376093761, + -400.3852128276485, + 1.8517198055595756 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -238.46826139802278, + -401.8852128276485, + 1.8517198055595756 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -235.87018518666946, + -403.3852128276485, + 1.8517198055595756 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -233.27210897531614, + -404.8852128276485, + 1.8517198055595756 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -230.67403276396283, + -406.3852128276485, + 1.8517198055595756 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -228.0759565526095, + -407.8852128276485, + 1.8517198055595756 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -225.4778803412562, + -409.3852128276485, + 1.8517198055595756 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -222.87980412990288, + -410.8852128276485, + 1.8517198055595756 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -220.28172791854956, + -412.3852128276485, + 1.8517198055595756 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -217.68365170719625, + -413.8852128276485, + 1.8517198055595756 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -215.0078338623047, + -412.48035171508786, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-4-58_900104667/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-4-58_900104667/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dd1979b57a746d84dfa43316b3ac5d2d36fceaac --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-4-58_900104667/pose.jsonl @@ -0,0 +1,456 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -357.75929871122077, + -414.8711744718323, + -4.871054854629489 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -355.16122249986745, + -416.3711744718323, + -4.871054854629489 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -352.56314628851413, + -417.8711744718323, + -4.871054854629489 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -349.9650700771608, + -419.3711744718323, + -4.871054854629489 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -347.3669938658075, + -420.8711744718323, + -4.871054854629489 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -344.7689176544542, + -422.3711744718323, + -4.871054854629489 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -342.17084144310087, + -423.8711744718323, + -4.871054854629489 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -339.57276523174755, + -425.3711744718323, + -4.871054854629489 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -336.97468902039424, + -426.8711744718323, + -4.871054854629489 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -334.3766128090409, + -428.3711744718323, + -4.871054854629489 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -331.7785365976876, + -429.8711744718323, + -4.871054854629489 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -329.1804603863343, + -431.3711744718323, + -4.871054854629489 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -326.582384174981, + -432.8711744718323, + -4.871054854629489 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -323.98430796362766, + -434.3711744718323, + -4.871054854629489 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -321.38623175227434, + -435.8711744718323, + -4.871054854629489 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -318.788155540921, + -437.3711744718323, + -4.871054854629489 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -316.1900793295677, + -438.8711744718323, + -4.871054854629489 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -313.5920031182144, + -440.3711744718323, + -4.871054854629489 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -310.9939269068611, + -441.8711744718323, + -4.871054854629489 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -308.39585069550776, + -443.3711744718323, + -4.871054854629489 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -305.79777448415444, + -444.8711744718323, + -4.871054854629489 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -303.19969827280113, + -446.3711744718323, + -4.871054854629489 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -300.6016220614478, + -447.8711744718323, + -4.871054854629489 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -298.0035458500945, + -449.3711744718323, + -4.871054854629489 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -295.4054696387412, + -450.8711744718323, + -4.871054854629489 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -292.80739342738786, + -452.3711744718323, + -4.871054854629489 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -290.20931721603455, + -453.8711744718323, + -4.871054854629489 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -287.61124100468123, + -455.3711744718323, + -4.871054854629489 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -285.0131647933279, + -456.8711744718323, + -4.871054854629489 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -282.4150885819746, + -458.3711744718323, + -4.871054854629489 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -279.8170123706213, + -459.8711744718323, + -4.871054854629489 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -277.21893615926797, + -461.3711744718323, + -4.871054854629489 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -274.62085994791465, + -462.8711744718323, + -4.871054854629489 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -272.02278373656134, + -464.3711744718323, + -4.871054854629489 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -270.6246540832519, + -464.87673126220704, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-40-43_895873480/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-40-43_895873480/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..79112bb3a65a32008a4447968d6573a16531851b --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-40-43_895873480/pose.jsonl @@ -0,0 +1,495 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 480.8806993367297, + -92.16279917232242, + 1.7840085279248905 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 480.8806993367297, + -89.16279917232242, + 1.7840085279248905 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 480.8806993367297, + -86.16279917232242, + 1.7840085279248905 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 480.8806993367297, + -83.16279917232242, + 1.7840085279248905 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 480.8806993367297, + -80.16279917232242, + 1.7840085279248905 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 480.8806993367297, + -77.16279917232242, + 1.7840085279248905 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 480.8806993367297, + -74.16279917232242, + 1.7840085279248905 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 480.8806993367297, + -71.16279917232242, + 1.7840085279248905 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 480.8806993367297, + -68.16279917232242, + 1.7840085279248905 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 480.8806993367297, + -65.16279917232242, + 1.7840085279248905 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 480.8806993367297, + -62.16279917232242, + 1.7840085279248905 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 480.8806993367297, + -59.16279917232242, + 1.7840085279248905 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 480.8806993367297, + -56.16279917232242, + 1.7840085279248905 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 480.8806993367297, + -53.16279917232242, + 1.7840085279248905 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 480.8806993367297, + -50.16279917232242, + 1.7840085279248905 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 480.8806993367297, + -47.16279917232242, + 1.7840085279248905 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 480.8806993367297, + -44.16279917232242, + 1.7840085279248905 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 480.8806993367297, + -41.16279917232242, + 1.7840085279248905 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 480.8806993367297, + -38.16279917232242, + 1.7840085279248905 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 480.8806993367297, + -35.16279917232242, + 1.7840085279248905 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 480.8806993367297, + -32.16279917232242, + 1.7840085279248905 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 480.8806993367297, + -29.162799172322423, + 1.7840085279248905 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 480.8806993367297, + -26.162799172322423, + 1.7840085279248905 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 480.8806993367297, + -23.162799172322423, + 1.7840085279248905 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 480.8806993367297, + -20.162799172322423, + 1.7840085279248905 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 480.8806993367297, + -17.162799172322423, + 1.7840085279248905 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 480.8806993367297, + -14.162799172322423, + 1.7840085279248905 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 480.8806993367297, + -11.162799172322423, + 1.7840085279248905 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 480.8806993367297, + -8.162799172322423, + 1.7840085279248905 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 480.8806993367297, + -5.162799172322423, + 1.7840085279248905 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 480.8806993367297, + -2.1627991723224227, + 1.7840085279248905 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 480.8806993367297, + 0.8372008276775773, + 1.7840085279248905 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 480.8806993367297, + 3.8372008276775773, + 1.7840085279248905 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 480.8806993367297, + 6.837200827677577, + 1.7840085279248905 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 480.8806993367297, + 9.837200827677577, + 1.7840085279248905 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 480.8806993367297, + 12.837200827677577, + 1.7840085279248905 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 480.8806993367297, + 15.837200827677577, + 1.7840085279248905 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 481.2035136413574, + 19.23793586730957, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-44-41_1881049613/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-44-41_1881049613/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7bd5a1c6590380ef5f5da7a9f6f5699c7d600df0 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-44-41_1881049613/pose.jsonl @@ -0,0 +1,404 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -955.6980688481569, + 442.3165987561102, + -4.438709619557766 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -957.1980688481569, + 439.71852254475687, + -4.438709619557766 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -958.6980688481569, + 437.12044633340355, + -4.438709619557766 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -960.1980688481569, + 434.52237012205023, + -4.438709619557766 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -961.6980688481569, + 431.9242939106969, + -4.438709619557766 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -963.1980688481569, + 429.3262176993436, + -4.438709619557766 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -964.6980688481569, + 426.7281414879903, + -4.438709619557766 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -966.1980688481569, + 424.13006527663697, + -4.438709619557766 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -967.6980688481569, + 421.53198906528365, + -4.438709619557766 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -969.1980688481569, + 418.93391285393034, + -4.438709619557766 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -970.6980688481569, + 416.335836642577, + -4.438709619557766 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -972.1980688481569, + 413.7377604312237, + -4.438709619557766 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -973.6980688481569, + 411.1396842198704, + -4.438709619557766 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -975.1980688481569, + 408.5416080085171, + -4.438709619557766 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -976.6980688481569, + 405.94353179716376, + -4.438709619557766 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -978.1980688481569, + 403.34545558581044, + -4.438709619557766 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -979.6980688481569, + 400.7473793744571, + -4.438709619557766 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -981.1980688481569, + 398.1493031631038, + -4.438709619557766 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -982.6980688481569, + 395.5512269517505, + -4.438709619557766 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -984.1980688481569, + 392.9531507403972, + -4.438709619557766 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -985.6980688481569, + 390.35507452904386, + -4.438709619557766 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -987.1980688481569, + 387.75699831769055, + -4.438709619557766 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -988.6980688481569, + 385.15892210633723, + -4.438709619557766 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -990.1980688481569, + 382.5608458949839, + -4.438709619557766 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -990.1980688481569, + 382.5608458949839, + -4.438709619557766 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -990.1980688481569, + 379.5608458949839, + -4.438709619557766 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -990.1980688481569, + 376.5608458949839, + -4.438709619557766 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -990.1980688481569, + 373.5608458949839, + -4.438709619557766 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -990.1980688481569, + 370.5608458949839, + -4.438709619557766 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -990.1980688481569, + 367.5608458949839, + -4.438709619557766 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1001.9772616577148, + 339.91288177490236, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-47-38_1589513899/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-47-38_1589513899/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a7432f514f59c2c89b408e345b04b4c14c297fa3 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-47-38_1589513899/pose.jsonl @@ -0,0 +1,352 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -354.09352227781693, + -446.30403743180625, + -4.532449025966419 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -354.09352227781693, + -443.30403743180625, + -4.532449025966419 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -354.09352227781693, + -440.30403743180625, + -4.532449025966419 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -354.09352227781693, + -437.30403743180625, + -4.532449025966419 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -354.09352227781693, + -434.30403743180625, + -4.532449025966419 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -354.09352227781693, + -431.30403743180625, + -4.532449025966419 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -354.09352227781693, + -428.30403743180625, + -4.532449025966419 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -354.09352227781693, + -425.30403743180625, + -4.532449025966419 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -354.09352227781693, + -422.30403743180625, + -4.532449025966419 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -354.09352227781693, + -419.30403743180625, + -4.532449025966419 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -354.09352227781693, + -416.30403743180625, + -4.532449025966419 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -354.09352227781693, + -413.30403743180625, + -4.532449025966419 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -354.09352227781693, + -410.30403743180625, + -4.532449025966419 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -354.09352227781693, + -407.30403743180625, + -4.532449025966419 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -354.09352227781693, + -404.30403743180625, + -4.532449025966419 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -354.09352227781693, + -401.30403743180625, + -4.532449025966419 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -354.09352227781693, + -398.30403743180625, + -4.532449025966419 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -354.09352227781693, + -395.30403743180625, + -4.532449025966419 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -354.09352227781693, + -392.30403743180625, + -4.532449025966419 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -354.09352227781693, + -389.30403743180625, + -4.532449025966419 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -354.09352227781693, + -386.30403743180625, + -4.532449025966419 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -354.09352227781693, + -383.30403743180625, + -4.532449025966419 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -354.09352227781693, + -383.30403743180625, + -4.532449025966419 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -354.09352227781693, + -383.30403743180625, + -4.532449025966419 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -351.4954460664636, + -381.80403743180625, + -4.532449025966419 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -348.8973698551103, + -380.30403743180625, + -4.532449025966419 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -348.85303680419923, + -377.0924723815918, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-51-20_298167279/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-51-20_298167279/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..17cab3379300747834534c2f303b8552e8cadd94 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-51-20_298167279/pose.jsonl @@ -0,0 +1,482 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -336.2860315766362, + 1.2113733767957235, + -4.182766037110347 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -333.2860315766362, + 1.2113733767957235, + -4.182766037110347 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -330.2860315766362, + 1.2113733767957235, + -4.182766037110347 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -327.2860315766362, + 1.2113733767957235, + -4.182766037110347 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -324.2860315766362, + 1.2113733767957235, + -4.182766037110347 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -321.2860315766362, + 1.2113733767957235, + -4.182766037110347 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -318.2860315766362, + 1.2113733767957235, + -4.182766037110347 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -315.2860315766362, + 1.2113733767957235, + -4.182766037110347 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -312.2860315766362, + 1.2113733767957235, + -4.182766037110347 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -309.2860315766362, + 1.2113733767957235, + -4.182766037110347 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -306.2860315766362, + 1.2113733767957235, + -4.182766037110347 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -303.2860315766362, + 1.2113733767957235, + -4.182766037110347 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -300.2860315766362, + 1.2113733767957235, + -4.182766037110347 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -297.2860315766362, + 1.2113733767957235, + -4.182766037110347 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -294.2860315766362, + 1.2113733767957235, + -4.182766037110347 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -291.2860315766362, + 1.2113733767957235, + -4.182766037110347 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -288.2860315766362, + 1.2113733767957235, + -4.182766037110347 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -285.2860315766362, + 1.2113733767957235, + -4.182766037110347 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -282.2860315766362, + 1.2113733767957235, + -4.182766037110347 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -279.2860315766362, + 1.2113733767957235, + -4.182766037110347 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -276.2860315766362, + 1.2113733767957235, + -4.182766037110347 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -273.2860315766362, + 1.2113733767957235, + -4.182766037110347 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -270.2860315766362, + 1.2113733767957235, + -4.182766037110347 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -267.2860315766362, + 1.2113733767957235, + -4.182766037110347 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -264.2860315766362, + 1.2113733767957235, + -4.182766037110347 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -261.2860315766362, + 1.2113733767957235, + -4.182766037110347 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -258.2860315766362, + 1.2113733767957235, + -4.182766037110347 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -255.28603157663622, + 1.2113733767957235, + -4.182766037110347 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -252.28603157663622, + 1.2113733767957235, + -4.182766037110347 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -252.28603157663622, + 1.2113733767957235, + -4.182766037110347 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -252.28603157663622, + 1.2113733767957235, + -4.182766037110347 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -250.78603157663622, + -1.3867028345575925, + -4.182766037110347 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -249.28603157663622, + -3.9847790459109085, + -4.182766037110347 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -247.78603157663622, + -6.5828552572642245, + -4.182766037110347 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -247.78603157663622, + -6.5828552572642245, + -4.182766037110347 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -245.1879553652829, + -8.082855257264224, + -4.182766037110347 + ], + "type": "stop", + "value": 0, + "yaw": -0.523598775598299 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -242.29689208984374, + -10.230338129997254, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-51-2_1683932587/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-51-2_1683932587/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7f7a3b429fa4c13141f7c53fd27d4b48613fcee6 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-51-2_1683932587/pose.jsonl @@ -0,0 +1,521 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -591.0924197982129, + -88.21485310613988, + -2.5392033762140622 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -592.5924197982129, + -90.8129293174932, + -2.5392033762140622 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -594.0924197982129, + -93.41100552884652, + -2.5392033762140622 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -595.5924197982129, + -96.00908174019983, + -2.5392033762140622 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -597.0924197982129, + -98.60715795155315, + -2.5392033762140622 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -598.5924197982129, + -101.20523416290646, + -2.5392033762140622 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -600.0924197982129, + -103.80331037425978, + -2.5392033762140622 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -601.5924197982129, + -106.4013865856131, + -2.5392033762140622 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -603.0924197982129, + -108.99946279696641, + -2.5392033762140622 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -604.5924197982129, + -111.59753900831973, + -2.5392033762140622 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -606.0924197982129, + -114.19561521967304, + -2.5392033762140622 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -607.5924197982129, + -116.79369143102636, + -2.5392033762140622 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -609.0924197982129, + -119.39176764237968, + -2.5392033762140622 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -610.5924197982129, + -121.98984385373299, + -2.5392033762140622 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -612.0924197982129, + -124.58792006508631, + -2.5392033762140622 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -613.5924197982129, + -127.18599627643962, + -2.5392033762140622 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -613.5924197982129, + -127.18599627643962, + -2.5392033762140622 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -616.1904960095662, + -128.68599627643962, + -2.5392033762140622 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -618.7885722209196, + -130.18599627643962, + -2.5392033762140622 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -621.386648432273, + -131.68599627643962, + -2.5392033762140622 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -623.9847246436264, + -133.18599627643962, + -2.5392033762140622 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -626.5828008549797, + -134.68599627643962, + -2.5392033762140622 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -629.1808770663331, + -136.18599627643962, + -2.5392033762140622 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -631.7789532776865, + -137.68599627643962, + -2.5392033762140622 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -634.3770294890398, + -139.18599627643962, + -2.5392033762140622 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -636.9751057003932, + -140.68599627643962, + -2.5392033762140622 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -639.5731819117466, + -142.18599627643962, + -2.5392033762140622 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -642.1712581231, + -143.68599627643962, + -2.5392033762140622 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -644.7693343344533, + -145.18599627643962, + -2.5392033762140622 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -647.3674105458067, + -146.68599627643962, + -2.5392033762140622 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -649.9654867571601, + -148.18599627643962, + -2.5392033762140622 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -652.5635629685135, + -149.68599627643962, + -2.5392033762140622 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -655.1616391798668, + -151.18599627643962, + -2.5392033762140622 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -657.7597153912202, + -152.68599627643962, + -2.5392033762140622 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -660.3577916025736, + -154.18599627643962, + -2.5392033762140622 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -660.3577916025736, + -154.18599627643962, + -2.5392033762140622 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -660.3577916025736, + -154.18599627643962, + -2.5392033762140622 + ], + "type": "go straight", + "value": 3, + "yaw": -1.570796326794906 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -660.3577916025736, + -157.18599627643962, + -2.5392033762140622 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -660.3577916025736, + -160.18599627643962, + -2.5392033762140622 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -661.3270858764648, + -162.2898444366455, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-59-32_193552063/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-59-32_193552063/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bd4e62d3b4cba53f98c32b69b479f8aecddeebb5 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-59-32_193552063/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -980.6669758936007, + 209.87790419212507, + -1.3886539058582108 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -982.1669758936007, + 212.4759804034784, + -1.3886539058582108 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -983.6669758936007, + 215.0740566148317, + -1.3886539058582108 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -985.1669758936007, + 217.67213282618502, + -1.3886539058582108 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -986.6669758936007, + 220.27020903753834, + -1.3886539058582108 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -988.1669758936007, + 222.86828524889165, + -1.3886539058582108 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -989.6669758936007, + 225.46636146024497, + -1.3886539058582108 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -991.1669758936007, + 228.06443767159828, + -1.3886539058582108 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -992.6669758936007, + 230.6625138829516, + -1.3886539058582108 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -994.1669758936007, + 233.26059009430492, + -1.3886539058582108 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -995.6669758936007, + 235.85866630565823, + -1.3886539058582108 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -997.1669758936007, + 238.45674251701155, + -1.3886539058582108 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -998.6669758936007, + 241.05481872836486, + -1.3886539058582108 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1000.1669758936007, + 243.65289493971818, + -1.3886539058582108 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1000.1669758936007, + 243.65289493971818, + -1.3886539058582108 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1000.1669758936007, + 246.65289493971818, + -1.3886539058582108 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1000.1669758936007, + 249.65289493971818, + -1.3886539058582108 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1000.1669758936007, + 252.65289493971818, + -1.3886539058582108 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1000.1669758936007, + 255.65289493971818, + -1.3886539058582108 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1000.1669758936007, + 258.6528949397182, + -1.3886539058582108 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1000.1669758936007, + 261.6528949397182, + -1.3886539058582108 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1000.1669758936007, + 264.6528949397182, + -1.3886539058582108 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1000.1669758936007, + 267.6528949397182, + -1.3886539058582108 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1000.1669758936007, + 270.6528949397182, + -1.3886539058582108 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1002.9734149169922, + 277.3824105834961, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-6-26_158136104/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-6-26_158136104/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..01f5d14da1824f780675daeb4e3d30d5c893804a --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-6-26_158136104/pose.jsonl @@ -0,0 +1,456 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -569.2526571609096, + 125.12572054647035, + 4.581695131780574 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -571.850733372263, + 123.62572054647035, + 4.581695131780574 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -574.4488095836164, + 122.12572054647035, + 4.581695131780574 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -577.0468857949697, + 120.62572054647035, + 4.581695131780574 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -579.6449620063231, + 119.12572054647035, + 4.581695131780574 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -582.2430382176765, + 117.62572054647035, + 4.581695131780574 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -584.8411144290299, + 116.12572054647035, + 4.581695131780574 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -587.4391906403832, + 114.62572054647035, + 4.581695131780574 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -590.0372668517366, + 113.12572054647035, + 4.581695131780574 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -592.63534306309, + 111.62572054647035, + 4.581695131780574 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -595.2334192744433, + 110.12572054647035, + 4.581695131780574 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -597.8314954857967, + 108.62572054647035, + 4.581695131780574 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -600.4295716971501, + 107.12572054647035, + 4.581695131780574 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -603.0276479085035, + 105.62572054647035, + 4.581695131780574 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -605.6257241198568, + 104.12572054647035, + 4.581695131780574 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -608.2238003312102, + 102.62572054647035, + 4.581695131780574 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -610.8218765425636, + 101.12572054647035, + 4.581695131780574 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -613.419952753917, + 99.62572054647035, + 4.581695131780574 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -616.0180289652703, + 98.12572054647035, + 4.581695131780574 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -618.6161051766237, + 96.62572054647035, + 4.581695131780574 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -621.2141813879771, + 95.12572054647035, + 4.581695131780574 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -623.8122575993305, + 93.62572054647035, + 4.581695131780574 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -626.4103338106838, + 92.12572054647035, + 4.581695131780574 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -629.0084100220372, + 90.62572054647035, + 4.581695131780574 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -631.6064862333906, + 89.12572054647035, + 4.581695131780574 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -634.2045624447439, + 87.62572054647035, + 4.581695131780574 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -636.8026386560973, + 86.12572054647035, + 4.581695131780574 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -639.4007148674507, + 84.62572054647035, + 4.581695131780574 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -641.9987910788041, + 83.12572054647035, + 4.581695131780574 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -644.5968672901574, + 81.62572054647035, + 4.581695131780574 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -644.5968672901574, + 81.62572054647035, + 4.581695131780574 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -647.5968672901574, + 81.62572054647035, + 4.581695131780574 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -650.5968672901574, + 81.62572054647035, + 4.581695131780574 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -653.5968672901574, + 81.62572054647035, + 4.581695131780574 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -655.7620668029786, + 80.36062210083007, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_10-25-35_2001100545/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_10-25-35_2001100545/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6d05452f941f1b4604481429d94949db685d5ff3 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_10-25-35_2001100545/pose.jsonl @@ -0,0 +1,534 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -865.0858345133067, + 1.3837303540867367, + -3.355874048865532 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -863.5858345133067, + 3.9818065654400527, + -3.355874048865532 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -862.0858345133067, + 6.579882776793369, + -3.355874048865532 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -860.5858345133067, + 9.177958988146685, + -3.355874048865532 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -859.0858345133067, + 11.7760351995, + -3.355874048865532 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -857.5858345133067, + 14.374111410853317, + -3.355874048865532 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -856.0858345133067, + 16.972187622206633, + -3.355874048865532 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -854.5858345133067, + 19.57026383355995, + -3.355874048865532 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -853.0858345133067, + 22.168340044913265, + -3.355874048865532 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -851.5858345133067, + 24.76641625626658, + -3.355874048865532 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -850.0858345133067, + 27.364492467619897, + -3.355874048865532 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -848.5858345133067, + 29.962568678973213, + -3.355874048865532 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -847.0858345133067, + 32.56064489032653, + -3.355874048865532 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -845.5858345133067, + 35.158721101679845, + -3.355874048865532 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -844.0858345133067, + 37.75679731303316, + -3.355874048865532 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -842.5858345133067, + 40.35487352438648, + -3.355874048865532 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -841.0858345133067, + 42.95294973573979, + -3.355874048865532 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -839.5858345133067, + 45.55102594709311, + -3.355874048865532 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -838.0858345133067, + 48.149102158446425, + -3.355874048865532 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -836.5858345133067, + 50.74717836979974, + -3.355874048865532 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -836.5858345133067, + 50.74717836979974, + -3.355874048865532 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -833.9877583019534, + 52.24717836979974, + -3.355874048865532 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -831.3896820906, + 53.74717836979974, + -3.355874048865532 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -828.7916058792466, + 55.24717836979974, + -3.355874048865532 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -826.1935296678932, + 56.74717836979974, + -3.355874048865532 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -823.5954534565399, + 58.24717836979974, + -3.355874048865532 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -820.9973772451865, + 59.74717836979974, + -3.355874048865532 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -818.3993010338331, + 61.24717836979974, + -3.355874048865532 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -815.8012248224798, + 62.74717836979974, + -3.355874048865532 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -813.2031486111264, + 64.24717836979974, + -3.355874048865532 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -810.605072399773, + 65.74717836979974, + -3.355874048865532 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -808.0069961884196, + 67.24717836979974, + -3.355874048865532 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -805.4089199770663, + 68.74717836979974, + -3.355874048865532 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -802.8108437657129, + 70.24717836979974, + -3.355874048865532 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -800.2127675543595, + 71.74717836979974, + -3.355874048865532 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -797.6146913430061, + 73.24717836979974, + -3.355874048865532 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -795.0166151316528, + 74.74717836979974, + -3.355874048865532 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -792.4185389202994, + 76.24717836979974, + -3.355874048865532 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -789.820462708946, + 77.74717836979974, + -3.355874048865532 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -787.2223864975927, + 79.24717836979974, + -3.355874048865532 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -785.9369680786133, + 81.05284317016601, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_10-27-21_1477171087/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_10-27-21_1477171087/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0c071c55ad5dc46c23d8ac03a41aa80ca562ea0f --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_10-27-21_1477171087/pose.jsonl @@ -0,0 +1,391 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -876.8822221487906, + 288.4673597755234, + -2.6986756294944554 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -879.4802983601439, + 289.9673597755234, + -2.6986756294944554 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -882.0783745714973, + 291.4673597755234, + -2.6986756294944554 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -884.6764507828507, + 292.9673597755234, + -2.6986756294944554 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -887.274526994204, + 294.4673597755234, + -2.6986756294944554 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -889.8726032055574, + 295.9673597755234, + -2.6986756294944554 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -892.4706794169108, + 297.4673597755234, + -2.6986756294944554 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -895.0687556282642, + 298.9673597755234, + -2.6986756294944554 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -897.6668318396175, + 300.4673597755234, + -2.6986756294944554 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -900.2649080509709, + 301.9673597755234, + -2.6986756294944554 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -902.8629842623243, + 303.4673597755234, + -2.6986756294944554 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -905.4610604736777, + 304.9673597755234, + -2.6986756294944554 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -908.059136685031, + 306.4673597755234, + -2.6986756294944554 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -910.6572128963844, + 307.9673597755234, + -2.6986756294944554 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -913.2552891077378, + 309.4673597755234, + -2.6986756294944554 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -915.8533653190912, + 310.9673597755234, + -2.6986756294944554 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -918.4514415304445, + 312.4673597755234, + -2.6986756294944554 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -921.0495177417979, + 313.9673597755234, + -2.6986756294944554 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -923.6475939531513, + 315.4673597755234, + -2.6986756294944554 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -926.2456701645046, + 316.9673597755234, + -2.6986756294944554 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -928.843746375858, + 318.4673597755234, + -2.6986756294944554 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -931.4418225872114, + 319.9673597755234, + -2.6986756294944554 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -931.4418225872114, + 319.9673597755234, + -2.6986756294944554 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -932.9418225872114, + 322.5654359868767, + -2.6986756294944554 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -934.4418225872114, + 325.16351219823, + -2.6986756294944554 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -935.9418225872114, + 327.76158840958334, + -2.6986756294944554 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -937.4418225872114, + 330.35966462093666, + -2.6986756294944554 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -938.9418225872114, + 332.95774083228997, + -2.6986756294944554 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -940.4418225872114, + 335.5558170436433, + -2.6986756294944554 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -942.5730328369141, + 336.42247901916505, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_10-27-36_356426808/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_10-27-36_356426808/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dd4f046d0c024de73271bd54285c58508d1cab60 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_10-27-36_356426808/pose.jsonl @@ -0,0 +1,378 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -260.5223449678454, + 538.9862989080178, + 3.4563067368023965 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -263.12042117919873, + 540.4862989080178, + 3.4563067368023965 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -265.71849739055205, + 541.9862989080178, + 3.4563067368023965 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -268.31657360190536, + 543.4862989080178, + 3.4563067368023965 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -270.9146498132587, + 544.9862989080178, + 3.4563067368023965 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -273.512726024612, + 546.4862989080178, + 3.4563067368023965 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -276.1108022359653, + 547.9862989080178, + 3.4563067368023965 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -278.7088784473186, + 549.4862989080178, + 3.4563067368023965 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -281.30695465867194, + 550.9862989080178, + 3.4563067368023965 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -283.90503087002526, + 552.4862989080178, + 3.4563067368023965 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -286.5031070813786, + 553.9862989080178, + 3.4563067368023965 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -289.1011832927319, + 555.4862989080178, + 3.4563067368023965 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -291.6992595040852, + 556.9862989080178, + 3.4563067368023965 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -294.2973357154385, + 558.4862989080178, + 3.4563067368023965 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -296.89541192679184, + 559.9862989080178, + 3.4563067368023965 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -299.49348813814515, + 561.4862989080178, + 3.4563067368023965 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -299.49348813814515, + 561.4862989080178, + 3.4563067368023965 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -302.49348813814515, + 561.4862989080178, + 3.4563067368023965 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -305.49348813814515, + 561.4862989080178, + 3.4563067368023965 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -308.49348813814515, + 561.4862989080178, + 3.4563067368023965 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -311.49348813814515, + 561.4862989080178, + 3.4563067368023965 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -314.49348813814515, + 561.4862989080178, + 3.4563067368023965 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -317.49348813814515, + 561.4862989080178, + 3.4563067368023965 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -320.49348813814515, + 561.4862989080178, + 3.4563067368023965 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -323.49348813814515, + 561.4862989080178, + 3.4563067368023965 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -326.49348813814515, + 561.4862989080178, + 3.4563067368023965 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -329.49348813814515, + 561.4862989080178, + 3.4563067368023965 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -332.49348813814515, + 561.4862989080178, + 3.4563067368023965 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -335.0891884613037, + 561.9170278930663, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_10-30-55_943947739/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_10-30-55_943947739/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..495cca3fc5d9302f4d23212f7f8256b56046015a --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_10-30-55_943947739/pose.jsonl @@ -0,0 +1,404 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -641.4417108478399, + 268.3118313710104, + -0.22586297592556281 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -644.0397870591933, + 266.8118313710104, + -0.22586297592556281 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -646.6378632705466, + 265.3118313710104, + -0.22586297592556281 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -649.2359394819, + 263.8118313710104, + -0.22586297592556281 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -651.8340156932534, + 262.3118313710104, + -0.22586297592556281 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -654.4320919046068, + 260.8118313710104, + -0.22586297592556281 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -657.0301681159601, + 259.3118313710104, + -0.22586297592556281 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -659.6282443273135, + 257.8118313710104, + -0.22586297592556281 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -662.2263205386669, + 256.3118313710104, + -0.22586297592556281 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -664.8243967500202, + 254.81183137101038, + -0.22586297592556281 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -667.4224729613736, + 253.31183137101038, + -0.22586297592556281 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -670.020549172727, + 251.81183137101038, + -0.22586297592556281 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -672.6186253840804, + 250.31183137101038, + -0.22586297592556281 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -675.2167015954337, + 248.81183137101038, + -0.22586297592556281 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -677.8147778067871, + 247.31183137101038, + -0.22586297592556281 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -680.4128540181405, + 245.81183137101038, + -0.22586297592556281 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -683.0109302294939, + 244.31183137101038, + -0.22586297592556281 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -685.6090064408472, + 242.81183137101038, + -0.22586297592556281 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -688.2070826522006, + 241.31183137101038, + -0.22586297592556281 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -690.805158863554, + 239.81183137101038, + -0.22586297592556281 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -693.4032350749073, + 238.31183137101038, + -0.22586297592556281 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -696.0013112862607, + 236.81183137101038, + -0.22586297592556281 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -698.5993874976141, + 235.31183137101038, + -0.22586297592556281 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -701.1974637089675, + 233.81183137101038, + -0.22586297592556281 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -703.7955399203208, + 232.31183137101038, + -0.22586297592556281 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -706.3936161316742, + 230.81183137101038, + -0.22586297592556281 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -708.9916923430276, + 229.31183137101038, + -0.22586297592556281 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -711.589768554381, + 227.81183137101038, + -0.22586297592556281 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -714.1878447657343, + 226.31183137101038, + -0.22586297592556281 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -716.7859209770877, + 224.81183137101038, + -0.22586297592556281 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -719.2420056152343, + 225.9435828399658, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_10-31-55_1469348094/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_10-31-55_1469348094/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..27e7f91b1ea4cdf430c4ea7fbcff88872d2e44a3 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_10-31-55_1469348094/pose.jsonl @@ -0,0 +1,404 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -953.0357809408546, + 268.05605425877206, + 0.6228966305285164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -954.5357809408546, + 270.6541304701254, + 0.6228966305285164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -956.0357809408546, + 273.2522066814787, + 0.6228966305285164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -957.5357809408546, + 275.850282892832, + 0.6228966305285164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -959.0357809408546, + 278.44835910418533, + 0.6228966305285164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -960.5357809408546, + 281.04643531553864, + 0.6228966305285164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -962.0357809408546, + 283.64451152689196, + 0.6228966305285164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -963.5357809408546, + 286.2425877382453, + 0.6228966305285164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -965.0357809408546, + 288.8406639495986, + 0.6228966305285164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -966.5357809408546, + 291.4387401609519, + 0.6228966305285164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -968.0357809408546, + 294.0368163723052, + 0.6228966305285164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -969.5357809408546, + 296.63489258365854, + 0.6228966305285164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -971.0357809408546, + 299.23296879501186, + 0.6228966305285164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -972.5357809408546, + 301.8310450063652, + 0.6228966305285164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -974.0357809408546, + 304.4291212177185, + 0.6228966305285164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -975.5357809408546, + 307.0271974290718, + 0.6228966305285164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -977.0357809408546, + 309.6252736404251, + 0.6228966305285164 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -977.0357809408546, + 309.6252736404251, + 0.6228966305285164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -977.0357809408546, + 312.6252736404251, + 0.6228966305285164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -977.0357809408546, + 315.6252736404251, + 0.6228966305285164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -977.0357809408546, + 318.6252736404251, + 0.6228966305285164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -977.0357809408546, + 321.6252736404251, + 0.6228966305285164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -977.0357809408546, + 324.6252736404251, + 0.6228966305285164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -977.0357809408546, + 327.6252736404251, + 0.6228966305285164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -977.0357809408546, + 330.6252736404251, + 0.6228966305285164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -977.0357809408546, + 333.6252736404251, + 0.6228966305285164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -977.0357809408546, + 336.6252736404251, + 0.6228966305285164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -977.0357809408546, + 339.6252736404251, + 0.6228966305285164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -977.0357809408546, + 342.6252736404251, + 0.6228966305285164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -977.0357809408546, + 345.6252736404251, + 0.6228966305285164 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -979.8297436523437, + 358.6925830078125, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_10-33-57_1376710097/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_10-33-57_1376710097/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c3219e39ddcf8df5b8aa07737fe0fd7547529197 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_10-33-57_1376710097/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 89.1033176074543, + -308.3725254027586, + 1.8061737896029033 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 92.1033176074543, + -308.3725254027586, + 1.8061737896029033 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 95.1033176074543, + -308.3725254027586, + 1.8061737896029033 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 98.1033176074543, + -308.3725254027586, + 1.8061737896029033 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 101.1033176074543, + -308.3725254027586, + 1.8061737896029033 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 104.1033176074543, + -308.3725254027586, + 1.8061737896029033 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 107.1033176074543, + -308.3725254027586, + 1.8061737896029033 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 110.1033176074543, + -308.3725254027586, + 1.8061737896029033 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 113.1033176074543, + -308.3725254027586, + 1.8061737896029033 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 116.1033176074543, + -308.3725254027586, + 1.8061737896029033 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 119.1033176074543, + -308.3725254027586, + 1.8061737896029033 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 122.1033176074543, + -308.3725254027586, + 1.8061737896029033 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 125.1033176074543, + -308.3725254027586, + 1.8061737896029033 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 128.1033176074543, + -308.3725254027586, + 1.8061737896029033 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 131.1033176074543, + -308.3725254027586, + 1.8061737896029033 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 134.1033176074543, + -308.3725254027586, + 1.8061737896029033 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 137.1033176074543, + -308.3725254027586, + 1.8061737896029033 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 140.1033176074543, + -308.3725254027586, + 1.8061737896029033 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 143.1033176074543, + -308.3725254027586, + 1.8061737896029033 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 143.1033176074543, + -308.3725254027586, + 1.8061737896029033 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 145.70139381880762, + -306.8725254027586, + 1.8061737896029033 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 148.29947003016093, + -305.3725254027586, + 1.8061737896029033 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 150.89754624151425, + -303.8725254027586, + 1.8061737896029033 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 153.49562245286756, + -302.3725254027586, + 1.8061737896029033 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 156.50516716003418, + -301.9973617553711, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_10-42-4_269455306/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_10-42-4_269455306/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..83ec5762369ce08927d283f9c9d774ecbff6ea4b --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_10-42-4_269455306/pose.jsonl @@ -0,0 +1,404 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -276.0331121118636, + 695.9328849037555, + 0.736059502400428 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -278.6311883232169, + 697.4328849037555, + 0.736059502400428 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -281.22926453457023, + 698.9328849037555, + 0.736059502400428 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -283.82734074592355, + 700.4328849037555, + 0.736059502400428 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -286.42541695727687, + 701.9328849037555, + 0.736059502400428 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -289.0234931686302, + 703.4328849037555, + 0.736059502400428 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -291.6215693799835, + 704.9328849037555, + 0.736059502400428 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -294.2196455913368, + 706.4328849037555, + 0.736059502400428 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -296.81772180269013, + 707.9328849037555, + 0.736059502400428 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -299.41579801404345, + 709.4328849037555, + 0.736059502400428 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -302.01387422539676, + 710.9328849037555, + 0.736059502400428 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -304.6119504367501, + 712.4328849037555, + 0.736059502400428 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -307.2100266481034, + 713.9328849037555, + 0.736059502400428 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -309.8081028594567, + 715.4328849037555, + 0.736059502400428 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -312.40617907081, + 716.9328849037555, + 0.736059502400428 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -315.00425528216334, + 718.4328849037555, + 0.736059502400428 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -317.60233149351666, + 719.9328849037555, + 0.736059502400428 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -320.20040770487, + 721.4328849037555, + 0.736059502400428 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -322.7984839162233, + 722.9328849037555, + 0.736059502400428 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -325.3965601275766, + 724.4328849037555, + 0.736059502400428 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -327.9946363389299, + 725.9328849037555, + 0.736059502400428 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -330.59271255028324, + 727.4328849037555, + 0.736059502400428 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -333.19078876163655, + 728.9328849037555, + 0.736059502400428 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -335.78886497298987, + 730.4328849037555, + 0.736059502400428 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -338.3869411843432, + 731.9328849037555, + 0.736059502400428 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -340.9850173956965, + 733.4328849037555, + 0.736059502400428 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -343.5830936070498, + 734.9328849037555, + 0.736059502400428 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -343.5830936070498, + 734.9328849037555, + 0.736059502400428 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -345.0830936070498, + 737.5309611151088, + 0.736059502400428 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -346.5830936070498, + 740.1290373264621, + 0.736059502400428 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393205 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -349.92333297729493, + 742.416524963379, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_10-43-17_2040332871/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_10-43-17_2040332871/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2cc5004a95882ed93ccc6b45f46b5874be762689 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_10-43-17_2040332871/pose.jsonl @@ -0,0 +1,456 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 12.565479098781744, + 603.1752615073591, + -3.835586279615459 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 12.565479098781744, + 606.1752615073591, + -3.835586279615459 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 12.565479098781744, + 609.1752615073591, + -3.835586279615459 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 12.565479098781744, + 612.1752615073591, + -3.835586279615459 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 12.565479098781744, + 615.1752615073591, + -3.835586279615459 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 12.565479098781744, + 618.1752615073591, + -3.835586279615459 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 12.565479098781744, + 621.1752615073591, + -3.835586279615459 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 12.565479098781744, + 624.1752615073591, + -3.835586279615459 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 12.565479098781744, + 627.1752615073591, + -3.835586279615459 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 12.565479098781744, + 630.1752615073591, + -3.835586279615459 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 12.565479098781744, + 633.1752615073591, + -3.835586279615459 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 12.565479098781744, + 636.1752615073591, + -3.835586279615459 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 12.565479098781744, + 639.1752615073591, + -3.835586279615459 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 12.565479098781744, + 642.1752615073591, + -3.835586279615459 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 12.565479098781744, + 645.1752615073591, + -3.835586279615459 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 12.565479098781744, + 648.1752615073591, + -3.835586279615459 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 12.565479098781744, + 651.1752615073591, + -3.835586279615459 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 12.565479098781744, + 654.1752615073591, + -3.835586279615459 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 12.565479098781744, + 657.1752615073591, + -3.835586279615459 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 12.565479098781744, + 660.1752615073591, + -3.835586279615459 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 12.565479098781744, + 663.1752615073591, + -3.835586279615459 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 12.565479098781744, + 666.1752615073591, + -3.835586279615459 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 12.565479098781744, + 669.1752615073591, + -3.835586279615459 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 12.565479098781744, + 669.1752615073591, + -3.835586279615459 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 11.065479098781744, + 671.7733377187124, + -3.835586279615459 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 9.565479098781744, + 674.3714139300657, + -3.835586279615459 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 8.065479098781744, + 676.9694901414191, + -3.835586279615459 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 6.565479098781744, + 679.5675663527725, + -3.835586279615459 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 5.065479098781745, + 682.1656425641258, + -3.835586279615459 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 3.565479098781746, + 684.7637187754792, + -3.835586279615459 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 2.065479098781747, + 687.3617949868326, + -3.835586279615459 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 2.065479098781747, + 687.3617949868326, + -3.835586279615459 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -0.5325971125715689, + 688.8617949868326, + -3.835586279615459 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -3.130673323924885, + 690.3617949868326, + -3.835586279615459 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -5.930885200500488, + 691.5702409362793, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_10-49-11_338888228/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_10-49-11_338888228/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..aeb3fd34cdd94cd2422656a605aed3e91a6534f7 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_10-49-11_338888228/pose.jsonl @@ -0,0 +1,430 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -439.70882648998725, + -334.8519988870743, + 0.7667717379912942 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -437.11075027863393, + -333.3519988870743, + 0.7667717379912942 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -434.5126740672806, + -331.8519988870743, + 0.7667717379912942 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -431.9145978559273, + -330.3519988870743, + 0.7667717379912942 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -429.316521644574, + -328.8519988870743, + 0.7667717379912942 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -426.71844543322067, + -327.3519988870743, + 0.7667717379912942 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -424.12036922186735, + -325.8519988870743, + 0.7667717379912942 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -421.52229301051403, + -324.3519988870743, + 0.7667717379912942 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -418.9242167991607, + -322.8519988870743, + 0.7667717379912942 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -416.3261405878074, + -321.3519988870743, + 0.7667717379912942 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -413.7280643764541, + -319.8519988870743, + 0.7667717379912942 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -411.12998816510077, + -318.3519988870743, + 0.7667717379912942 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -408.53191195374745, + -316.8519988870743, + 0.7667717379912942 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -405.93383574239414, + -315.3519988870743, + 0.7667717379912942 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -403.3357595310408, + -313.8519988870743, + 0.7667717379912942 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -400.7376833196875, + -312.3519988870743, + 0.7667717379912942 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -398.1396071083342, + -310.8519988870743, + 0.7667717379912942 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -395.5415308969809, + -309.3519988870743, + 0.7667717379912942 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -392.94345468562756, + -307.8519988870743, + 0.7667717379912942 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -390.34537847427424, + -306.3519988870743, + 0.7667717379912942 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -387.7473022629209, + -304.8519988870743, + 0.7667717379912942 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -385.1492260515676, + -303.3519988870743, + 0.7667717379912942 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -382.5511498402143, + -301.8519988870743, + 0.7667717379912942 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -379.953073628861, + -300.3519988870743, + 0.7667717379912942 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -377.35499741750766, + -298.8519988870743, + 0.7667717379912942 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -374.75692120615435, + -297.3519988870743, + 0.7667717379912942 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -372.15884499480103, + -295.8519988870743, + 0.7667717379912942 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -369.5607687834477, + -294.3519988870743, + 0.7667717379912942 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -366.9626925720944, + -292.8519988870743, + 0.7667717379912942 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -364.3646163607411, + -291.3519988870743, + 0.7667717379912942 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -361.76654014938777, + -289.8519988870743, + 0.7667717379912942 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -359.16846393803445, + -288.3519988870743, + 0.7667717379912942 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -357.95375900268556, + -286.8376789855957, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_10-49-27_2147469841/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_10-49-27_2147469841/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..47d3e505547b0d7ab29252614b939e2f4d60e72f --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_10-49-27_2147469841/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -804.6978767773344, + 249.18793278908703, + -1.9044670744009213 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -803.1978767773344, + 246.5898565777337, + -1.9044670744009213 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -801.6978767773344, + 243.9917803663804, + -1.9044670744009213 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -800.1978767773344, + 241.39370415502708, + -1.9044670744009213 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -798.6978767773344, + 238.79562794367376, + -1.9044670744009213 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -797.1978767773344, + 236.19755173232045, + -1.9044670744009213 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -795.6978767773344, + 233.59947552096713, + -1.9044670744009213 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -794.1978767773344, + 231.00139930961382, + -1.9044670744009213 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -792.6978767773344, + 228.4033230982605, + -1.9044670744009213 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -791.1978767773344, + 225.80524688690718, + -1.9044670744009213 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -789.6978767773344, + 223.20717067555387, + -1.9044670744009213 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -788.1978767773344, + 220.60909446420055, + -1.9044670744009213 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -786.6978767773344, + 218.01101825284724, + -1.9044670744009213 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -785.1978767773344, + 215.41294204149392, + -1.9044670744009213 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -783.6978767773344, + 212.8148658301406, + -1.9044670744009213 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -782.1978767773344, + 210.2167896187873, + -1.9044670744009213 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -780.6978767773344, + 207.61871340743397, + -1.9044670744009213 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -780.6978767773344, + 207.61871340743397, + -1.9044670744009213 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -780.6978767773344, + 204.61871340743397, + -1.9044670744009213 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -780.6978767773344, + 201.61871340743397, + -1.9044670744009213 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -780.6978767773344, + 198.61871340743397, + -1.9044670744009213 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -780.6978767773344, + 195.61871340743397, + -1.9044670744009213 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -780.6978767773344, + 192.61871340743397, + -1.9044670744009213 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -780.6978767773344, + 189.61871340743397, + -1.9044670744009213 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -780.6978767773344, + 186.61871340743397, + -1.9044670744009213 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -780.6978767773344, + 183.61871340743397, + -1.9044670744009213 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -780.6978767773344, + 180.61871340743397, + -1.9044670744009213 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -779.8773458862305, + 179.3161050415039, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_10-55-57_1239036029/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_10-55-57_1239036029/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5484bbc266ec29e0e8904a76df5c17bfcdf07ee4 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_10-55-57_1239036029/pose.jsonl @@ -0,0 +1,222 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -969.6300265404918, + 239.99446019511583, + -3.493739363968327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -972.2281027518452, + 241.49446019511583, + -3.493739363968327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -974.8261789631986, + 242.99446019511583, + -3.493739363968327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -977.424255174552, + 244.49446019511583, + -3.493739363968327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -980.0223313859053, + 245.99446019511583, + -3.493739363968327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -982.6204075972587, + 247.49446019511583, + -3.493739363968327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -985.2184838086121, + 248.99446019511583, + -3.493739363968327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -987.8165600199654, + 250.49446019511583, + -3.493739363968327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -990.4146362313188, + 251.99446019511583, + -3.493739363968327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -993.0127124426722, + 253.49446019511583, + -3.493739363968327 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -993.0127124426722, + 253.49446019511583, + -3.493739363968327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -994.5127124426722, + 256.09253640646915, + -3.493739363968327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -996.0127124426722, + 258.69061261782247, + -3.493739363968327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -997.5127124426722, + 261.2886888291758, + -3.493739363968327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -999.0127124426722, + 263.8867650405291, + -3.493739363968327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1000.5127124426722, + 266.4848412518824, + -3.493739363968327 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1041.4117810058594, + 301.62743286132815, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_10-56-30_1350573793/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_10-56-30_1350573793/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f69b45c9ab1ae92020e36e1f8e283ded1b6ca3bf --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_10-56-30_1350573793/pose.jsonl @@ -0,0 +1,404 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 45.14195519460342, + 84.67363045863787, + 2.241741865135668 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 45.14195519460342, + 87.67363045863787, + 2.241741865135668 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 45.14195519460342, + 90.67363045863787, + 2.241741865135668 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 45.14195519460342, + 93.67363045863787, + 2.241741865135668 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 45.14195519460342, + 96.67363045863787, + 2.241741865135668 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 45.14195519460342, + 99.67363045863787, + 2.241741865135668 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 45.14195519460342, + 102.67363045863787, + 2.241741865135668 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 45.14195519460342, + 105.67363045863787, + 2.241741865135668 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 45.14195519460342, + 108.67363045863787, + 2.241741865135668 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 45.14195519460342, + 111.67363045863787, + 2.241741865135668 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 45.14195519460342, + 114.67363045863787, + 2.241741865135668 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 45.14195519460342, + 117.67363045863787, + 2.241741865135668 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 45.14195519460342, + 120.67363045863787, + 2.241741865135668 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 45.14195519460342, + 123.67363045863787, + 2.241741865135668 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 45.14195519460342, + 126.67363045863787, + 2.241741865135668 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 45.14195519460342, + 129.6736304586379, + 2.241741865135668 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 45.14195519460342, + 132.6736304586379, + 2.241741865135668 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 45.14195519460342, + 135.6736304586379, + 2.241741865135668 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 45.14195519460342, + 138.6736304586379, + 2.241741865135668 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 45.14195519460342, + 141.6736304586379, + 2.241741865135668 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 45.14195519460342, + 144.6736304586379, + 2.241741865135668 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 45.14195519460342, + 147.6736304586379, + 2.241741865135668 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 45.14195519460342, + 150.6736304586379, + 2.241741865135668 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 45.14195519460342, + 153.6736304586379, + 2.241741865135668 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 45.14195519460342, + 156.6736304586379, + 2.241741865135668 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 45.14195519460342, + 156.6736304586379, + 2.241741865135668 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 45.14195519460342, + 156.6736304586379, + 2.241741865135668 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 42.5438789832501, + 158.1736304586379, + 2.241741865135668 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 39.94580277189679, + 159.6736304586379, + 2.241741865135668 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 37.34772656054347, + 161.1736304586379, + 2.241741865135668 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 36.64368785858154, + 161.94002262115478, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_10-59-43_1067854538/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_10-59-43_1067854538/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..78a747a6a74ac25cc1dfd17b38a44c85c4606e8d --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_10-59-43_1067854538/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -404.15788739304793, + -328.80509554250057, + 2.043145761498174 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -402.65788739304793, + -331.4031717538539, + 2.043145761498174 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -401.15788739304793, + -334.0012479652072, + 2.043145761498174 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -399.65788739304793, + -336.5993241765605, + 2.043145761498174 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -398.15788739304793, + -339.19740038791383, + 2.043145761498174 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -396.65788739304793, + -341.79547659926715, + 2.043145761498174 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -395.15788739304793, + -344.39355281062046, + 2.043145761498174 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -393.65788739304793, + -346.9916290219738, + 2.043145761498174 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -392.15788739304793, + -349.5897052333271, + 2.043145761498174 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -390.65788739304793, + -352.1877814446804, + 2.043145761498174 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -389.15788739304793, + -354.7858576560337, + 2.043145761498174 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -387.65788739304793, + -357.38393386738704, + 2.043145761498174 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -387.65788739304793, + -357.38393386738704, + 2.043145761498174 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -385.0598111816946, + -358.88393386738704, + 2.043145761498174 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -382.4617349703413, + -360.38393386738704, + 2.043145761498174 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -379.863658758988, + -361.88393386738704, + 2.043145761498174 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -377.26558254763466, + -363.38393386738704, + 2.043145761498174 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -374.66750633628135, + -364.88393386738704, + 2.043145761498174 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -372.06943012492803, + -366.38393386738704, + 2.043145761498174 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -369.4713539135747, + -367.88393386738704, + 2.043145761498174 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -366.8732777022214, + -369.38393386738704, + 2.043145761498174 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -364.2752014908681, + -370.88393386738704, + 2.043145761498174 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -361.67712527951477, + -372.38393386738704, + 2.043145761498174 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -359.07904906816145, + -373.88393386738704, + 2.043145761498174 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -356.48097285680814, + -375.38393386738704, + 2.043145761498174 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -353.8828966454548, + -376.88393386738704, + 2.043145761498174 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -351.2848204341015, + -378.38393386738704, + 2.043145761498174 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -348.85303680419923, + -377.0924723815918, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-0-11_1782436840/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-0-11_1782436840/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7fc0991b17fb39206dbccd9ffd9ee59a5ef009db --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-0-11_1782436840/pose.jsonl @@ -0,0 +1,157 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -975.5985525553768, + 276.81194044576256, + -0.2141373402910869 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -978.1966287667301, + 278.31194044576256, + -0.2141373402910869 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -980.7947049780835, + 279.81194044576256, + -0.2141373402910869 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -983.3927811894368, + 281.31194044576256, + -0.2141373402910869 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -985.9908574007902, + 282.81194044576256, + -0.2141373402910869 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -988.5889336121436, + 284.31194044576256, + -0.2141373402910869 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -991.187009823497, + 285.81194044576256, + -0.2141373402910869 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -993.7850860348503, + 287.31194044576256, + -0.2141373402910869 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -993.7850860348503, + 287.31194044576256, + -0.2141373402910869 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -996.7850860348503, + 287.31194044576256, + -0.2141373402910869 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -999.7850860348503, + 287.31194044576256, + -0.2141373402910869 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1041.4117810058594, + 301.62743286132815, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-13-4_1569229320/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-13-4_1569229320/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d32ed074249d4b3f399040a66627046abe44729b --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-13-4_1569229320/pose.jsonl @@ -0,0 +1,443 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -315.942664970634, + -220.05300800815604, + -2.440485707439854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -315.942664970634, + -217.05300800815604, + -2.440485707439854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -315.942664970634, + -214.05300800815604, + -2.440485707439854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -315.942664970634, + -211.05300800815604, + -2.440485707439854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -315.942664970634, + -208.05300800815604, + -2.440485707439854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -315.942664970634, + -205.05300800815604, + -2.440485707439854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -315.942664970634, + -202.05300800815604, + -2.440485707439854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -315.942664970634, + -199.05300800815604, + -2.440485707439854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -315.942664970634, + -196.05300800815604, + -2.440485707439854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -315.942664970634, + -193.05300800815604, + -2.440485707439854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -315.942664970634, + -190.05300800815604, + -2.440485707439854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -315.942664970634, + -187.05300800815604, + -2.440485707439854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -315.942664970634, + -184.05300800815604, + -2.440485707439854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -315.942664970634, + -181.05300800815604, + -2.440485707439854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -315.942664970634, + -178.05300800815604, + -2.440485707439854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -315.942664970634, + -175.05300800815604, + -2.440485707439854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -315.942664970634, + -172.05300800815604, + -2.440485707439854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -315.942664970634, + -169.05300800815604, + -2.440485707439854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -315.942664970634, + -166.05300800815604, + -2.440485707439854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -315.942664970634, + -163.05300800815604, + -2.440485707439854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -315.942664970634, + -160.05300800815604, + -2.440485707439854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -315.942664970634, + -157.05300800815604, + -2.440485707439854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -315.942664970634, + -154.05300800815604, + -2.440485707439854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -315.942664970634, + -151.05300800815604, + -2.440485707439854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -315.942664970634, + -148.05300800815604, + -2.440485707439854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -315.942664970634, + -145.05300800815604, + -2.440485707439854 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -315.942664970634, + -145.05300800815604, + -2.440485707439854 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -315.942664970634, + -145.05300800815604, + -2.440485707439854 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -318.5407411819873, + -143.55300800815604, + -2.440485707439854 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -321.1388173933406, + -142.05300800815604, + -2.440485707439854 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -321.1388173933406, + -142.05300800815604, + -2.440485707439854 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -322.6388173933406, + -139.45493179680273, + -2.440485707439854 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -324.1388173933406, + -136.8568555854494, + -2.440485707439854 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -323.98753799438475, + -133.34803604125977, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-15-17_1143408282/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-15-17_1143408282/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7ef1ff89ec67c7fa97f91862172853f82a16740d --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-15-17_1143408282/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -648.6216350644045, + 283.9633120107501, + 1.3163840276303294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -651.2197112757578, + 282.4633120107501, + 1.3163840276303294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -653.8177874871112, + 280.9633120107501, + 1.3163840276303294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -656.4158636984646, + 279.4633120107501, + 1.3163840276303294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -659.013939909818, + 277.9633120107501, + 1.3163840276303294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -661.6120161211713, + 276.4633120107501, + 1.3163840276303294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -664.2100923325247, + 274.9633120107501, + 1.3163840276303294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -666.8081685438781, + 273.4633120107501, + 1.3163840276303294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -669.4062447552315, + 271.9633120107501, + 1.3163840276303294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -672.0043209665848, + 270.4633120107501, + 1.3163840276303294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -674.6023971779382, + 268.9633120107501, + 1.3163840276303294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -677.2004733892916, + 267.4633120107501, + 1.3163840276303294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -679.798549600645, + 265.9633120107501, + 1.3163840276303294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -682.3966258119983, + 264.4633120107501, + 1.3163840276303294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -684.9947020233517, + 262.9633120107501, + 1.3163840276303294 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -684.9947020233517, + 262.9633120107501, + 1.3163840276303294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -686.4947020233517, + 260.36523579939677, + 1.3163840276303294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -687.9947020233517, + 257.76715958804346, + 1.3163840276303294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -689.4947020233517, + 255.16908337669014, + 1.3163840276303294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -690.9947020233517, + 252.57100716533682, + 1.3163840276303294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -692.4947020233517, + 249.9729309539835, + 1.3163840276303294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -693.9947020233517, + 247.3748547426302, + 1.3163840276303294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -695.4947020233517, + 244.77677853127688, + 1.3163840276303294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -696.9947020233517, + 242.17870231992356, + 1.3163840276303294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -698.4947020233517, + 239.58062610857024, + 1.3163840276303294 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -701.6309753417969, + 238.16310417175293, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-16-24_1473442062/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-16-24_1473442062/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ac60341f63434121293729c12f52498120cc1b38 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-16-24_1473442062/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 283.58463700144614, + 657.6107726381973, + -1.5410112466563168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 280.9865607900928, + 659.1107726381973, + -1.5410112466563168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 278.3884845787395, + 660.6107726381973, + -1.5410112466563168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 275.7904083673862, + 662.1107726381973, + -1.5410112466563168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 273.1923321560329, + 663.6107726381973, + -1.5410112466563168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 270.59425594467956, + 665.1107726381973, + -1.5410112466563168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 267.99617973332624, + 666.6107726381973, + -1.5410112466563168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 265.3981035219729, + 668.1107726381973, + -1.5410112466563168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 262.8000273106196, + 669.6107726381973, + -1.5410112466563168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 260.2019510992663, + 671.1107726381973, + -1.5410112466563168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 257.603874887913, + 672.6107726381973, + -1.5410112466563168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 255.00579867655966, + 674.1107726381973, + -1.5410112466563168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 252.40772246520635, + 675.6107726381973, + -1.5410112466563168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 249.80964625385303, + 677.1107726381973, + -1.5410112466563168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 247.21157004249972, + 678.6107726381973, + -1.5410112466563168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 244.6134938311464, + 680.1107726381973, + -1.5410112466563168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 242.01541761979308, + 681.6107726381973, + -1.5410112466563168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 239.41734140843977, + 683.1107726381973, + -1.5410112466563168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 236.81926519708645, + 684.6107726381973, + -1.5410112466563168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 234.22118898573314, + 686.1107726381973, + -1.5410112466563168 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 234.22118898573314, + 686.1107726381973, + -1.5410112466563168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 232.72118898573314, + 688.7088488495506, + -1.5410112466563168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 231.22118898573314, + 691.306925060904, + -1.5410112466563168 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393205 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 229.7172834777832, + 692.2608906555175, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-18-0_1431419379/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-18-0_1431419379/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..84e7052cbb82a559312498fd2e1251bb2fdde4c2 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-18-0_1431419379/pose.jsonl @@ -0,0 +1,404 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -397.5579557462537, + -360.499376646559, + 3.4562977460607875 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -394.9598795349004, + -361.999376646559, + 3.4562977460607875 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -392.36180332354706, + -363.499376646559, + 3.4562977460607875 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -389.76372711219375, + -364.999376646559, + 3.4562977460607875 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -387.16565090084043, + -366.499376646559, + 3.4562977460607875 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -384.5675746894871, + -367.999376646559, + 3.4562977460607875 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -381.9694984781338, + -369.499376646559, + 3.4562977460607875 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -379.3714222667805, + -370.999376646559, + 3.4562977460607875 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -376.77334605542717, + -372.499376646559, + 3.4562977460607875 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -374.17526984407385, + -373.999376646559, + 3.4562977460607875 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -371.57719363272054, + -375.499376646559, + 3.4562977460607875 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -368.9791174213672, + -376.999376646559, + 3.4562977460607875 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -366.3810412100139, + -378.499376646559, + 3.4562977460607875 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -363.7829649986606, + -379.999376646559, + 3.4562977460607875 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -361.1848887873073, + -381.499376646559, + 3.4562977460607875 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -358.58681257595396, + -382.999376646559, + 3.4562977460607875 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -355.98873636460064, + -384.499376646559, + 3.4562977460607875 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -353.3906601532473, + -385.999376646559, + 3.4562977460607875 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -350.792583941894, + -387.499376646559, + 3.4562977460607875 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -348.1945077305407, + -388.999376646559, + 3.4562977460607875 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -345.5964315191874, + -390.499376646559, + 3.4562977460607875 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -342.99835530783406, + -391.999376646559, + 3.4562977460607875 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -340.40027909648074, + -393.499376646559, + 3.4562977460607875 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -337.80220288512743, + -394.999376646559, + 3.4562977460607875 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -335.2041266737741, + -396.499376646559, + 3.4562977460607875 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -332.6060504624208, + -397.999376646559, + 3.4562977460607875 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -330.0079742510675, + -399.499376646559, + 3.4562977460607875 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -327.40989803971416, + -400.999376646559, + 3.4562977460607875 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -324.81182182836085, + -402.499376646559, + 3.4562977460607875 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -322.21374561700753, + -403.999376646559, + 3.4562977460607875 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -319.6267106628418, + -403.69195602416994, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-2-24_706043324/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-2-24_706043324/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..528a36b2709169b1834876da7a0c5a1f4911a679 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-2-24_706043324/pose.jsonl @@ -0,0 +1,235 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 466.75256419673474, + 358.7958749299931, + 4.995857069883385 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 469.75256419673474, + 358.7958749299931, + 4.995857069883385 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 472.75256419673474, + 358.7958749299931, + 4.995857069883385 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 475.75256419673474, + 358.7958749299931, + 4.995857069883385 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 478.75256419673474, + 358.7958749299931, + 4.995857069883385 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 481.75256419673474, + 358.7958749299931, + 4.995857069883385 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 484.75256419673474, + 358.7958749299931, + 4.995857069883385 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 487.75256419673474, + 358.7958749299931, + 4.995857069883385 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 487.75256419673474, + 358.7958749299931, + 4.995857069883385 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 487.75256419673474, + 358.7958749299931, + 4.995857069883385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 489.25256419673474, + 361.3939511413464, + 4.995857069883385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 490.75256419673474, + 363.9920273526997, + 4.995857069883385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 492.25256419673474, + 366.59010356405304, + 4.995857069883385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 493.75256419673474, + 369.18817977540635, + 4.995857069883385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 495.25256419673474, + 371.78625598675967, + 4.995857069883385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 496.75256419673474, + 374.384332198113, + 4.995857069883385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 498.25256419673474, + 376.9824084094663, + 4.995857069883385 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 560.3580831909179, + 412.7992530822754, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-20-33_404158660/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-20-33_404158660/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..42d3d10be8e1c687a68351b59e684b44887a28f7 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-20-33_404158660/pose.jsonl @@ -0,0 +1,469 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -188.36975179890993, + 28.52390953591734, + -3.8130863170692466 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -186.86975179890993, + 25.925833324564024, + -3.8130863170692466 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -185.36975179890993, + 23.32775711321071, + -3.8130863170692466 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -183.86975179890993, + 20.729680901857392, + -3.8130863170692466 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -182.36975179890993, + 18.131604690504076, + -3.8130863170692466 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -180.86975179890993, + 15.53352847915076, + -3.8130863170692466 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -179.36975179890993, + 12.935452267797444, + -3.8130863170692466 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -177.86975179890993, + 10.337376056444128, + -3.8130863170692466 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -176.36975179890993, + 7.739299845090812, + -3.8130863170692466 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -174.86975179890993, + 5.141223633737496, + -3.8130863170692466 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -173.36975179890993, + 2.5431474223841803, + -3.8130863170692466 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -171.86975179890993, + -0.05492878896913567, + -3.8130863170692466 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -170.36975179890993, + -2.6530050003224517, + -3.8130863170692466 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -168.86975179890993, + -5.251081211675768, + -3.8130863170692466 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -167.36975179890993, + -7.849157423029084, + -3.8130863170692466 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -165.86975179890993, + -10.4472336343824, + -3.8130863170692466 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -164.36975179890993, + -13.045309845735716, + -3.8130863170692466 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -162.86975179890993, + -15.643386057089032, + -3.8130863170692466 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -161.36975179890993, + -18.241462268442348, + -3.8130863170692466 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -159.86975179890993, + -20.839538479795664, + -3.8130863170692466 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -158.36975179890993, + -23.43761469114898, + -3.8130863170692466 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -158.36975179890993, + -23.43761469114898, + -3.8130863170692466 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -158.36975179890993, + -26.43761469114898, + -3.8130863170692466 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -158.36975179890993, + -29.43761469114898, + -3.8130863170692466 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -158.36975179890993, + -32.43761469114898, + -3.8130863170692466 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -158.36975179890993, + -35.43761469114898, + -3.8130863170692466 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -158.36975179890993, + -38.43761469114898, + -3.8130863170692466 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -158.36975179890993, + -41.43761469114898, + -3.8130863170692466 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -158.36975179890993, + -44.43761469114898, + -3.8130863170692466 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -158.36975179890993, + -47.43761469114898, + -3.8130863170692466 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -158.36975179890993, + -50.43761469114898, + -3.8130863170692466 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -158.36975179890993, + -53.43761469114898, + -3.8130863170692466 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -158.36975179890993, + -56.43761469114898, + -3.8130863170692466 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -158.36975179890993, + -59.43761469114898, + -3.8130863170692466 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -158.36975179890993, + -62.43761469114898, + -3.8130863170692466 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -156.47577671051025, + -64.65314291000367, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-20-50_937370163/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-20-50_937370163/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4688a7ab98c9b2cdeda622fd5744ceb8e3d93b29 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-20-50_937370163/pose.jsonl @@ -0,0 +1,443 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -938.3965345814335, + 346.6974296674913, + 4.344561360668926 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -939.8965345814335, + 344.099353456138, + 4.344561360668926 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -941.3965345814335, + 341.50127724478466, + 4.344561360668926 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -942.8965345814335, + 338.90320103343134, + 4.344561360668926 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -944.3965345814335, + 336.305124822078, + 4.344561360668926 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -945.8965345814335, + 333.7070486107247, + 4.344561360668926 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -947.3965345814335, + 331.1089723993714, + 4.344561360668926 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -948.8965345814335, + 328.5108961880181, + 4.344561360668926 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -950.3965345814335, + 325.91281997666476, + 4.344561360668926 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -951.8965345814335, + 323.31474376531145, + 4.344561360668926 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -953.3965345814335, + 320.71666755395813, + 4.344561360668926 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -954.8965345814335, + 318.1185913426048, + 4.344561360668926 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -956.3965345814335, + 315.5205151312515, + 4.344561360668926 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -957.8965345814335, + 312.9224389198982, + 4.344561360668926 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -959.3965345814335, + 310.32436270854487, + 4.344561360668926 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -960.8965345814335, + 307.72628649719155, + 4.344561360668926 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -962.3965345814335, + 305.12821028583824, + 4.344561360668926 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -963.8965345814335, + 302.5301340744849, + 4.344561360668926 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -963.8965345814335, + 302.5301340744849, + 4.344561360668926 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -966.4946107927867, + 301.0301340744849, + 4.344561360668926 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -969.0926870041401, + 299.5301340744849, + 4.344561360668926 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -971.6907632154935, + 298.0301340744849, + 4.344561360668926 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -974.2888394268468, + 296.5301340744849, + 4.344561360668926 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -976.8869156382002, + 295.0301340744849, + 4.344561360668926 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -979.4849918495536, + 293.5301340744849, + 4.344561360668926 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -982.083068060907, + 292.0301340744849, + 4.344561360668926 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -984.6811442722603, + 290.5301340744849, + 4.344561360668926 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -987.2792204836137, + 289.0301340744849, + 4.344561360668926 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -989.8772966949671, + 287.5301340744849, + 4.344561360668926 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -992.4753729063204, + 286.0301340744849, + 4.344561360668926 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -995.0734491176738, + 284.5301340744849, + 4.344561360668926 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -997.6715253290272, + 283.0301340744849, + 4.344561360668926 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1000.2696015403806, + 281.5301340744849, + 4.344561360668926 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1002.9734149169922, + 277.3824105834961, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-20-5_1776808933/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-20-5_1776808933/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6f30ec2eb8addc32d0e30d802944f986c909916c --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-20-5_1776808933/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -296.0194356986388, + -38.78364947293541, + -2.3921930634081683 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -293.0194356986388, + -38.78364947293541, + -2.3921930634081683 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -290.0194356986388, + -38.78364947293541, + -2.3921930634081683 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -287.0194356986388, + -38.78364947293541, + -2.3921930634081683 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -287.0194356986388, + -38.78364947293541, + -2.3921930634081683 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -287.0194356986388, + -38.78364947293541, + -2.3921930634081683 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -285.5194356986388, + -36.18557326158209, + -2.3921930634081683 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -284.0194356986388, + -33.58749705022878, + -2.3921930634081683 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -282.5194356986388, + -30.98942083887546, + -2.3921930634081683 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -282.5194356986388, + -30.98942083887546, + -2.3921930634081683 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -279.9213594872855, + -29.48942083887546, + -2.3921930634081683 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -277.32328327593217, + -27.98942083887546, + -2.3921930634081683 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -274.72520706457885, + -26.48942083887546, + -2.3921930634081683 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -272.12713085322554, + -24.98942083887546, + -2.3921930634081683 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -269.5290546418722, + -23.48942083887546, + -2.3921930634081683 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -266.9309784305189, + -21.98942083887546, + -2.3921930634081683 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -264.3329022191656, + -20.48942083887546, + -2.3921930634081683 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -261.7348260078123, + -18.98942083887546, + -2.3921930634081683 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -259.13674979645896, + -17.48942083887546, + -2.3921930634081683 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -256.53867358510564, + -15.98942083887546, + -2.3921930634081683 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -253.94059737375233, + -14.48942083887546, + -2.3921930634081683 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -251.342521162399, + -12.98942083887546, + -2.3921930634081683 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -248.7444449510457, + -11.48942083887546, + -2.3921930634081683 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -246.14636873969238, + -9.98942083887546, + -2.3921930634081683 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -242.29689208984374, + -10.230338129997254, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-22-20_1472713773/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-22-20_1472713773/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9729c40a2946610119fb3933ebab3d35f8c5e2a6 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-22-20_1472713773/pose.jsonl @@ -0,0 +1,456 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 370.27329928227374, + 597.2439108820274, + 0.3720630938051599 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 368.77329928227374, + 599.8419870933808, + 0.3720630938051599 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 367.27329928227374, + 602.4400633047342, + 0.3720630938051599 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 365.77329928227374, + 605.0381395160875, + 0.3720630938051599 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 364.27329928227374, + 607.6362157274409, + 0.3720630938051599 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 362.77329928227374, + 610.2342919387943, + 0.3720630938051599 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 361.27329928227374, + 612.8323681501477, + 0.3720630938051599 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 359.77329928227374, + 615.430444361501, + 0.3720630938051599 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 358.27329928227374, + 618.0285205728544, + 0.3720630938051599 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 356.77329928227374, + 620.6265967842078, + 0.3720630938051599 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 355.27329928227374, + 623.2246729955611, + 0.3720630938051599 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 353.77329928227374, + 625.8227492069145, + 0.3720630938051599 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 352.27329928227374, + 628.4208254182679, + 0.3720630938051599 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 350.77329928227374, + 631.0189016296213, + 0.3720630938051599 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 349.27329928227374, + 633.6169778409746, + 0.3720630938051599 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 347.77329928227374, + 636.215054052328, + 0.3720630938051599 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 346.27329928227374, + 638.8131302636814, + 0.3720630938051599 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 344.77329928227374, + 641.4112064750348, + 0.3720630938051599 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 343.27329928227374, + 644.0092826863881, + 0.3720630938051599 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 341.77329928227374, + 646.6073588977415, + 0.3720630938051599 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 340.27329928227374, + 649.2054351090949, + 0.3720630938051599 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 338.77329928227374, + 651.8035113204483, + 0.3720630938051599 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 338.77329928227374, + 651.8035113204483, + 0.3720630938051599 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 336.1752230709204, + 653.3035113204483, + 0.3720630938051599 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 333.5771468595671, + 654.8035113204483, + 0.3720630938051599 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 330.9790706482138, + 656.3035113204483, + 0.3720630938051599 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 328.3809944368605, + 657.8035113204483, + 0.3720630938051599 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 325.78291822550716, + 659.3035113204483, + 0.3720630938051599 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 323.18484201415384, + 660.8035113204483, + 0.3720630938051599 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 320.5867658028005, + 662.3035113204483, + 0.3720630938051599 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 317.9886895914472, + 663.8035113204483, + 0.3720630938051599 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 315.3906133800939, + 665.3035113204483, + 0.3720630938051599 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 312.7925371687406, + 666.8035113204483, + 0.3720630938051599 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 310.19446095738726, + 668.3035113204483, + 0.3720630938051599 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 307.503537902832, + 668.8986363220215, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-27-48_1823089412/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-27-48_1823089412/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0f10754c6681a3d6342066df7f1f333e8439d34a --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-27-48_1823089412/pose.jsonl @@ -0,0 +1,170 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 471.1537902577619, + 224.78028873958297, + 4.449195680786023 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 474.1537902577619, + 224.78028873958297, + 4.449195680786023 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 477.1537902577619, + 224.78028873958297, + 4.449195680786023 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 480.1537902577619, + 224.78028873958297, + 4.449195680786023 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 483.1537902577619, + 224.78028873958297, + 4.449195680786023 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 486.1537902577619, + 224.78028873958297, + 4.449195680786023 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 489.1537902577619, + 224.78028873958297, + 4.449195680786023 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 492.1537902577619, + 224.78028873958297, + 4.449195680786023 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 492.1537902577619, + 224.78028873958297, + 4.449195680786023 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 494.7518664691152, + 226.28028873958297, + 4.449195680786023 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 497.34994268046853, + 227.78028873958297, + 4.449195680786023 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 499.94801889182185, + 229.28028873958297, + 4.449195680786023 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 583.5565863037109, + 244.7667236328125, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-27-57_1065103348/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-27-57_1065103348/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d19ad001b878c0a2539b0556ac8ac2b5d6c0bae1 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-27-57_1065103348/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -882.5095219557165, + 56.2849941449272, + 2.188393050144408 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -879.9114457443632, + 54.7849941449272, + 2.188393050144408 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -877.3133695330098, + 53.2849941449272, + 2.188393050144408 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -874.7152933216564, + 51.7849941449272, + 2.188393050144408 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -872.117217110303, + 50.2849941449272, + 2.188393050144408 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -869.5191408989497, + 48.7849941449272, + 2.188393050144408 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -866.9210646875963, + 47.2849941449272, + 2.188393050144408 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -864.3229884762429, + 45.7849941449272, + 2.188393050144408 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -864.3229884762429, + 45.7849941449272, + 2.188393050144408 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -862.8229884762429, + 43.18691793357388, + 2.188393050144408 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -861.3229884762429, + 40.588841722220565, + 2.188393050144408 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -859.8229884762429, + 37.99076551086725, + 2.188393050144408 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -858.3229884762429, + 35.39268929951393, + 2.188393050144408 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -856.8229884762429, + 32.79461308816062, + 2.188393050144408 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -855.3229884762429, + 30.1965368768073, + 2.188393050144408 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -853.8229884762429, + 27.598460665453985, + 2.188393050144408 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -852.3229884762429, + 25.00038445410067, + 2.188393050144408 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -850.8229884762429, + 22.402308242747353, + 2.188393050144408 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -850.8229884762429, + 22.402308242747353, + 2.188393050144408 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -848.2249122648896, + 20.902308242747353, + 2.188393050144408 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -845.6268360535362, + 19.402308242747353, + 2.188393050144408 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -843.0287598421828, + 17.902308242747353, + 2.188393050144408 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -840.4306836308294, + 16.402308242747353, + 2.188393050144408 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -837.8326074194761, + 14.902308242747353, + 2.188393050144408 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -834.8437512207031, + 12.72820457458496, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-30-24_1555319301/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-30-24_1555319301/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f325eba80508bf5dea0770da81ff9546263e52bc --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-30-24_1555319301/pose.jsonl @@ -0,0 +1,495 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -998.0771932274946, + 475.5625738931486, + 1.3188446631791608 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -998.0771932274946, + 472.5625738931486, + 1.3188446631791608 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -998.0771932274946, + 469.5625738931486, + 1.3188446631791608 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -998.0771932274946, + 466.5625738931486, + 1.3188446631791608 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -998.0771932274946, + 463.5625738931486, + 1.3188446631791608 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -998.0771932274946, + 460.5625738931486, + 1.3188446631791608 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -998.0771932274946, + 457.5625738931486, + 1.3188446631791608 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -998.0771932274946, + 454.5625738931486, + 1.3188446631791608 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -998.0771932274946, + 451.5625738931486, + 1.3188446631791608 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -998.0771932274946, + 448.5625738931486, + 1.3188446631791608 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -998.0771932274946, + 445.5625738931486, + 1.3188446631791608 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -998.0771932274946, + 442.5625738931486, + 1.3188446631791608 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -998.0771932274946, + 439.5625738931486, + 1.3188446631791608 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -998.0771932274946, + 436.5625738931486, + 1.3188446631791608 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -998.0771932274946, + 433.5625738931486, + 1.3188446631791608 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -998.0771932274946, + 430.5625738931486, + 1.3188446631791608 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -998.0771932274946, + 427.5625738931486, + 1.3188446631791608 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -998.0771932274946, + 424.5625738931486, + 1.3188446631791608 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -998.0771932274946, + 421.5625738931486, + 1.3188446631791608 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -998.0771932274946, + 418.5625738931486, + 1.3188446631791608 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -998.0771932274946, + 415.5625738931486, + 1.3188446631791608 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -998.0771932274946, + 412.5625738931486, + 1.3188446631791608 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -998.0771932274946, + 409.5625738931486, + 1.3188446631791608 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -998.0771932274946, + 406.5625738931486, + 1.3188446631791608 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -998.0771932274946, + 403.5625738931486, + 1.3188446631791608 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -998.0771932274946, + 400.5625738931486, + 1.3188446631791608 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -998.0771932274946, + 397.5625738931486, + 1.3188446631791608 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -998.0771932274946, + 397.5625738931486, + 1.3188446631791608 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -996.5771932274946, + 394.9644976817953, + 1.3188446631791608 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -995.0771932274946, + 392.366421470442, + 1.3188446631791608 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -993.5771932274946, + 389.7683452590887, + 1.3188446631791608 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -992.0771932274946, + 387.17026904773536, + 1.3188446631791608 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -990.5771932274946, + 384.57219283638204, + 1.3188446631791608 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -989.0771932274946, + 381.9741166250287, + 1.3188446631791608 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -987.5771932274946, + 379.3760404136754, + 1.3188446631791608 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -986.0771932274946, + 376.7779642023221, + 1.3188446631791608 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -984.5771932274946, + 374.1798879909688, + 1.3188446631791608 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -979.8297436523437, + 358.6925830078125, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-31-30_260401255/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-31-30_260401255/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ebe3990245d2e6c778f1bace3a68278e5f164817 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-31-30_260401255/pose.jsonl @@ -0,0 +1,391 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -280.76629656417566, + -315.60023500740397, + -0.43096702291721734 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -283.364372775529, + -314.10023500740397, + -0.43096702291721734 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -285.9624489868823, + -312.60023500740397, + -0.43096702291721734 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -288.5605251982356, + -311.10023500740397, + -0.43096702291721734 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -291.1586014095889, + -309.60023500740397, + -0.43096702291721734 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -293.75667762094224, + -308.10023500740397, + -0.43096702291721734 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -296.35475383229556, + -306.60023500740397, + -0.43096702291721734 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -298.9528300436489, + -305.10023500740397, + -0.43096702291721734 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -301.5509062550022, + -303.60023500740397, + -0.43096702291721734 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -304.1489824663555, + -302.10023500740397, + -0.43096702291721734 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -306.7470586777088, + -300.60023500740397, + -0.43096702291721734 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -309.34513488906214, + -299.10023500740397, + -0.43096702291721734 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -311.94321110041545, + -297.60023500740397, + -0.43096702291721734 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -314.54128731176877, + -296.10023500740397, + -0.43096702291721734 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -317.1393635231221, + -294.60023500740397, + -0.43096702291721734 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -319.7374397344754, + -293.10023500740397, + -0.43096702291721734 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -322.3355159458287, + -291.60023500740397, + -0.43096702291721734 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -324.93359215718203, + -290.10023500740397, + -0.43096702291721734 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -327.53166836853535, + -288.60023500740397, + -0.43096702291721734 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -327.53166836853535, + -288.60023500740397, + -0.43096702291721734 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -330.53166836853535, + -288.60023500740397, + -0.43096702291721734 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -333.53166836853535, + -288.60023500740397, + -0.43096702291721734 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -336.53166836853535, + -288.60023500740397, + -0.43096702291721734 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -339.53166836853535, + -288.60023500740397, + -0.43096702291721734 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -342.53166836853535, + -288.60023500740397, + -0.43096702291721734 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -345.53166836853535, + -288.60023500740397, + -0.43096702291721734 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -348.53166836853535, + -288.60023500740397, + -0.43096702291721734 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -351.53166836853535, + -288.60023500740397, + -0.43096702291721734 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -354.53166836853535, + -288.60023500740397, + -0.43096702291721734 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -357.95375900268556, + -286.8376789855957, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-33-12_1797073940/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-33-12_1797073940/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c2d87e1a9b2794b8f0b265cec381230a16017bcc --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-33-12_1797073940/pose.jsonl @@ -0,0 +1,508 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -262.1955076614619, + 640.7569227677985, + -1.081414388820483 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -263.6955076614619, + 638.1588465564453, + -1.081414388820483 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -265.1955076614619, + 635.5607703450919, + -1.081414388820483 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -266.6955076614619, + 632.9626941337385, + -1.081414388820483 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -268.1955076614619, + 630.3646179223852, + -1.081414388820483 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -269.6955076614619, + 627.7665417110318, + -1.081414388820483 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -271.1955076614619, + 625.1684654996784, + -1.081414388820483 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -272.6955076614619, + 622.570389288325, + -1.081414388820483 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -274.1955076614619, + 619.9723130769717, + -1.081414388820483 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -275.6955076614619, + 617.3742368656183, + -1.081414388820483 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -277.1955076614619, + 614.7761606542649, + -1.081414388820483 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -278.6955076614619, + 612.1780844429115, + -1.081414388820483 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -280.1955076614619, + 609.5800082315582, + -1.081414388820483 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -281.6955076614619, + 606.9819320202048, + -1.081414388820483 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -283.1955076614619, + 604.3838558088514, + -1.081414388820483 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -284.6955076614619, + 601.785779597498, + -1.081414388820483 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -286.1955076614619, + 599.1877033861447, + -1.081414388820483 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -287.6955076614619, + 596.5896271747913, + -1.081414388820483 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -289.1955076614619, + 593.9915509634379, + -1.081414388820483 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -290.6955076614619, + 591.3934747520846, + -1.081414388820483 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -292.1955076614619, + 588.7953985407312, + -1.081414388820483 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -293.6955076614619, + 586.1973223293778, + -1.081414388820483 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -295.1955076614619, + 583.5992461180244, + -1.081414388820483 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -295.1955076614619, + 583.5992461180244, + -1.081414388820483 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -297.7935838728152, + 582.0992461180244, + -1.081414388820483 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -300.3916600841685, + 580.5992461180244, + -1.081414388820483 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -302.9897362955218, + 579.0992461180244, + -1.081414388820483 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -305.58781250687514, + 577.5992461180244, + -1.081414388820483 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -308.18588871822845, + 576.0992461180244, + -1.081414388820483 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -310.78396492958177, + 574.5992461180244, + -1.081414388820483 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -313.3820411409351, + 573.0992461180244, + -1.081414388820483 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -315.9801173522884, + 571.5992461180244, + -1.081414388820483 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -318.5781935636417, + 570.0992461180244, + -1.081414388820483 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -321.17626977499503, + 568.5992461180244, + -1.081414388820483 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -323.77434598634835, + 567.0992461180244, + -1.081414388820483 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -326.37242219770167, + 565.5992461180244, + -1.081414388820483 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -328.970498409055, + 564.0992461180244, + -1.081414388820483 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -331.5685746204083, + 562.5992461180244, + -1.081414388820483 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -335.0891884613037, + 561.9170278930663, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-34-16_846811127/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-34-16_846811127/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f77ae11af529e2e80ac1ea2b15a60efa25241915 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-34-16_846811127/pose.jsonl @@ -0,0 +1,495 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -682.5095886580641, + 144.36814687562588, + 1.4881532353537716 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -681.0095886580641, + 141.77007066427257, + 1.4881532353537716 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -679.5095886580641, + 139.17199445291925, + 1.4881532353537716 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -678.0095886580641, + 136.57391824156593, + 1.4881532353537716 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -676.5095886580641, + 133.97584203021262, + 1.4881532353537716 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -675.0095886580641, + 131.3777658188593, + 1.4881532353537716 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -673.5095886580641, + 128.779689607506, + 1.4881532353537716 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -672.0095886580641, + 126.18161339615267, + 1.4881532353537716 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -670.5095886580641, + 123.58353718479935, + 1.4881532353537716 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -669.0095886580641, + 120.98546097344604, + 1.4881532353537716 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -667.5095886580641, + 118.38738476209272, + 1.4881532353537716 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -666.0095886580641, + 115.7893085507394, + 1.4881532353537716 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -664.5095886580641, + 113.19123233938609, + 1.4881532353537716 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -663.0095886580641, + 110.59315612803277, + 1.4881532353537716 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -661.5095886580641, + 107.99507991667946, + 1.4881532353537716 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -660.0095886580641, + 105.39700370532614, + 1.4881532353537716 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -658.5095886580641, + 102.79892749397283, + 1.4881532353537716 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -657.0095886580641, + 100.20085128261951, + 1.4881532353537716 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -655.5095886580641, + 97.6027750712662, + 1.4881532353537716 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -654.0095886580641, + 95.00469885991288, + 1.4881532353537716 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -652.5095886580641, + 92.40662264855956, + 1.4881532353537716 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -651.0095886580641, + 89.80854643720625, + 1.4881532353537716 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -649.5095886580641, + 87.21047022585293, + 1.4881532353537716 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -648.0095886580641, + 84.61239401449961, + 1.4881532353537716 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -646.5095886580641, + 82.0143178031463, + 1.4881532353537716 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -645.0095886580641, + 79.41624159179298, + 1.4881532353537716 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -643.5095886580641, + 76.81816538043967, + 1.4881532353537716 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -642.0095886580641, + 74.22008916908635, + 1.4881532353537716 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -640.5095886580641, + 71.62201295773303, + 1.4881532353537716 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -639.0095886580641, + 69.02393674637972, + 1.4881532353537716 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -637.5095886580641, + 66.4258605350264, + 1.4881532353537716 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -636.0095886580641, + 63.827784323673086, + 1.4881532353537716 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -634.5095886580641, + 61.22970811231977, + 1.4881532353537716 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -633.0095886580641, + 58.631631900966454, + 1.4881532353537716 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -631.5095886580641, + 56.03355568961314, + 1.4881532353537716 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -630.0095886580641, + 53.43547947825982, + 1.4881532353537716 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -628.5095886580641, + 50.837403266906506, + 1.4881532353537716 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -629.9300636291504, + 48.19314208984375, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-34-34_1414829150/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-34-34_1414829150/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3c647b52ddc9893072b0e91d71b7ccd148ef8e8d --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-34-34_1414829150/pose.jsonl @@ -0,0 +1,482 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -688.5644229474887, + 364.62209838242734, + -1.611460548656774 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -688.5644229474887, + 361.62209838242734, + -1.611460548656774 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -688.5644229474887, + 358.62209838242734, + -1.611460548656774 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -688.5644229474887, + 355.62209838242734, + -1.611460548656774 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -688.5644229474887, + 352.62209838242734, + -1.611460548656774 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -688.5644229474887, + 349.62209838242734, + -1.611460548656774 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -688.5644229474887, + 346.62209838242734, + -1.611460548656774 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -688.5644229474887, + 343.62209838242734, + -1.611460548656774 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -688.5644229474887, + 340.62209838242734, + -1.611460548656774 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -688.5644229474887, + 337.62209838242734, + -1.611460548656774 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -688.5644229474887, + 334.62209838242734, + -1.611460548656774 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -688.5644229474887, + 331.62209838242734, + -1.611460548656774 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -688.5644229474887, + 328.62209838242734, + -1.611460548656774 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -688.5644229474887, + 325.62209838242734, + -1.611460548656774 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -688.5644229474887, + 322.62209838242734, + -1.611460548656774 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -688.5644229474887, + 319.62209838242734, + -1.611460548656774 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -688.5644229474887, + 316.62209838242734, + -1.611460548656774 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -688.5644229474887, + 313.62209838242734, + -1.611460548656774 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -688.5644229474887, + 310.62209838242734, + -1.611460548656774 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -688.5644229474887, + 307.62209838242734, + -1.611460548656774 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -688.5644229474887, + 304.62209838242734, + -1.611460548656774 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -688.5644229474887, + 301.62209838242734, + -1.611460548656774 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -688.5644229474887, + 298.62209838242734, + -1.611460548656774 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -688.5644229474887, + 295.62209838242734, + -1.611460548656774 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -688.5644229474887, + 292.62209838242734, + -1.611460548656774 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -688.5644229474887, + 289.62209838242734, + -1.611460548656774 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -688.5644229474887, + 286.62209838242734, + -1.611460548656774 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -688.5644229474887, + 283.62209838242734, + -1.611460548656774 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -688.5644229474887, + 280.62209838242734, + -1.611460548656774 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -688.5644229474887, + 277.62209838242734, + -1.611460548656774 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -688.5644229474887, + 274.62209838242734, + -1.611460548656774 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -688.5644229474887, + 271.62209838242734, + -1.611460548656774 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -688.5644229474887, + 268.62209838242734, + -1.611460548656774 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -688.5644229474887, + 265.62209838242734, + -1.611460548656774 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -688.5644229474887, + 262.62209838242734, + -1.611460548656774 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -688.5644229474887, + 259.62209838242734, + -1.611460548656774 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -686.6680834960937, + 258.1570868682861, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-47-48_648031326/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-47-48_648031326/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..60d62f6dec6efa1aab6d0349ded23485bd4539f2 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-47-48_648031326/pose.jsonl @@ -0,0 +1,521 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 338.0238336898072, + -75.58714448899602, + 2.9489284832460525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 338.0238336898072, + -72.58714448899602, + 2.9489284832460525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 338.0238336898072, + -69.58714448899602, + 2.9489284832460525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 338.0238336898072, + -66.58714448899602, + 2.9489284832460525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 338.0238336898072, + -63.58714448899602, + 2.9489284832460525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 338.0238336898072, + -60.58714448899602, + 2.9489284832460525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 338.0238336898072, + -57.58714448899602, + 2.9489284832460525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 338.0238336898072, + -54.58714448899602, + 2.9489284832460525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 338.0238336898072, + -51.58714448899602, + 2.9489284832460525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 338.0238336898072, + -48.58714448899602, + 2.9489284832460525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 338.0238336898072, + -45.58714448899602, + 2.9489284832460525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 338.0238336898072, + -42.58714448899602, + 2.9489284832460525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 338.0238336898072, + -39.58714448899602, + 2.9489284832460525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 338.0238336898072, + -36.58714448899602, + 2.9489284832460525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 338.0238336898072, + -33.58714448899602, + 2.9489284832460525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 338.0238336898072, + -30.587144488996017, + 2.9489284832460525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 338.0238336898072, + -27.587144488996017, + 2.9489284832460525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 338.0238336898072, + -24.587144488996017, + 2.9489284832460525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 338.0238336898072, + -21.587144488996017, + 2.9489284832460525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 338.0238336898072, + -18.587144488996017, + 2.9489284832460525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 338.0238336898072, + -15.587144488996017, + 2.9489284832460525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 338.0238336898072, + -12.587144488996017, + 2.9489284832460525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 338.0238336898072, + -9.587144488996017, + 2.9489284832460525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 338.0238336898072, + -6.587144488996017, + 2.9489284832460525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 338.0238336898072, + -3.5871444889960173, + 2.9489284832460525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 338.0238336898072, + -0.5871444889960173, + 2.9489284832460525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 338.0238336898072, + 2.4128555110039827, + 2.9489284832460525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 338.0238336898072, + 5.412855511003983, + 2.9489284832460525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 338.0238336898072, + 8.412855511003983, + 2.9489284832460525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 338.0238336898072, + 11.412855511003983, + 2.9489284832460525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 338.0238336898072, + 14.412855511003983, + 2.9489284832460525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 338.0238336898072, + 17.412855511003983, + 2.9489284832460525 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 338.0238336898072, + 17.412855511003983, + 2.9489284832460525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 339.5238336898072, + 20.0109317223573, + 2.9489284832460525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 341.0238336898072, + 22.609007933710615, + 2.9489284832460525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 342.5238336898072, + 25.20708414506393, + 2.9489284832460525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 344.0238336898072, + 27.805160356417247, + 2.9489284832460525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 345.5238336898072, + 30.403236567770563, + 2.9489284832460525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 347.0238336898072, + 33.00131277912388, + 2.9489284832460525 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 344.9839593505859, + 35.070869789123535, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-49-45_1486222842/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-49-45_1486222842/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..85f0bb04172f7b3c5dadf66609235263af916a0a --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-49-45_1486222842/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -812.9694943354158, + -2.935074016065805, + 2.6660278646152777 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -811.4694943354158, + -0.33699780471248886, + 2.6660278646152777 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -809.9694943354158, + 2.261078406640827, + 2.6660278646152777 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -808.4694943354158, + 4.859154617994143, + 2.6660278646152777 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -806.9694943354158, + 7.457230829347459, + 2.6660278646152777 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -805.4694943354158, + 10.055307040700775, + 2.6660278646152777 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -803.9694943354158, + 12.653383252054091, + 2.6660278646152777 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -802.4694943354158, + 15.251459463407407, + 2.6660278646152777 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -800.9694943354158, + 17.849535674760723, + 2.6660278646152777 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -799.4694943354158, + 20.44761188611404, + 2.6660278646152777 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -797.9694943354158, + 23.045688097467355, + 2.6660278646152777 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -796.4694943354158, + 25.64376430882067, + 2.6660278646152777 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -794.9694943354158, + 28.241840520173987, + 2.6660278646152777 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -793.4694943354158, + 30.839916731527303, + 2.6660278646152777 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -791.9694943354158, + 33.43799294288062, + 2.6660278646152777 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -791.9694943354158, + 33.43799294288062, + 2.6660278646152777 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -789.3714181240625, + 34.93799294288062, + 2.6660278646152777 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -786.7733419127092, + 36.43799294288062, + 2.6660278646152777 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -784.1752657013558, + 37.93799294288062, + 2.6660278646152777 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -781.5771894900024, + 39.43799294288062, + 2.6660278646152777 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -778.979113278649, + 40.93799294288062, + 2.6660278646152777 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -776.3810370672957, + 42.43799294288062, + 2.6660278646152777 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -773.7829608559423, + 43.93799294288062, + 2.6660278646152777 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -771.1848846445889, + 45.43799294288062, + 2.6660278646152777 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -768.5868084332355, + 46.93799294288062, + 2.6660278646152777 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -768.8232287597656, + 49.617736358642574, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-6-13_968338082/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-6-13_968338082/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..814f54c1e320da09752173c755f169261d89d5d6 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-6-13_968338082/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -703.867188540441, + -213.8944972499186, + -0.052068421790147035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -702.367188540441, + -211.29642103856528, + -0.052068421790147035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -700.867188540441, + -208.69834482721197, + -0.052068421790147035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -699.367188540441, + -206.10026861585865, + -0.052068421790147035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -697.867188540441, + -203.50219240450534, + -0.052068421790147035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -696.367188540441, + -200.90411619315202, + -0.052068421790147035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -694.867188540441, + -198.3060399817987, + -0.052068421790147035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -693.367188540441, + -195.7079637704454, + -0.052068421790147035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -691.867188540441, + -193.10988755909207, + -0.052068421790147035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -690.367188540441, + -190.51181134773876, + -0.052068421790147035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -688.867188540441, + -187.91373513638544, + -0.052068421790147035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -687.367188540441, + -185.31565892503212, + -0.052068421790147035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -685.867188540441, + -182.7175827136788, + -0.052068421790147035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -684.367188540441, + -180.1195065023255, + -0.052068421790147035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -682.867188540441, + -177.52143029097218, + -0.052068421790147035 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -682.867188540441, + -177.52143029097218, + -0.052068421790147035 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -680.2691123290876, + -176.02143029097218, + -0.052068421790147035 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -677.6710361177343, + -174.52143029097218, + -0.052068421790147035 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -675.0729599063809, + -173.02143029097218, + -0.052068421790147035 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -672.4748836950275, + -171.52143029097218, + -0.052068421790147035 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -669.8768074836742, + -170.02143029097218, + -0.052068421790147035 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -667.2787312723208, + -168.52143029097218, + -0.052068421790147035 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -664.6806550609674, + -167.02143029097218, + -0.052068421790147035 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -662.082578849614, + -165.52143029097218, + -0.052068421790147035 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -661.3270858764648, + -162.2898444366455, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-7-2_933110197/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-7-2_933110197/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..445b97008d022d288929dd1c1aca6e2852bfd136 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-7-2_933110197/pose.jsonl @@ -0,0 +1,495 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 343.2094701447311, + 508.7367404091592, + -0.6357979777111558 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 345.8075463560844, + 510.2367404091592, + -0.6357979777111558 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 348.4056225674377, + 511.7367404091592, + -0.6357979777111558 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 351.00369877879103, + 513.2367404091592, + -0.6357979777111558 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 353.60177499014435, + 514.7367404091592, + -0.6357979777111558 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 356.19985120149767, + 516.2367404091592, + -0.6357979777111558 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 358.797927412851, + 517.7367404091592, + -0.6357979777111558 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 361.3960036242043, + 519.2367404091592, + -0.6357979777111558 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 363.9940798355576, + 520.7367404091592, + -0.6357979777111558 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 366.59215604691093, + 522.2367404091592, + -0.6357979777111558 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 369.19023225826425, + 523.7367404091592, + -0.6357979777111558 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 371.78830846961756, + 525.2367404091592, + -0.6357979777111558 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 374.3863846809709, + 526.7367404091592, + -0.6357979777111558 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 376.9844608923242, + 528.2367404091592, + -0.6357979777111558 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 379.5825371036775, + 529.7367404091592, + -0.6357979777111558 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 382.1806133150308, + 531.2367404091592, + -0.6357979777111558 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 384.77868952638414, + 532.7367404091592, + -0.6357979777111558 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 387.37676573773746, + 534.2367404091592, + -0.6357979777111558 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 389.9748419490908, + 535.7367404091592, + -0.6357979777111558 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 392.5729181604441, + 537.2367404091592, + -0.6357979777111558 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 395.1709943717974, + 538.7367404091592, + -0.6357979777111558 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 397.7690705831507, + 540.2367404091592, + -0.6357979777111558 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 400.36714679450404, + 541.7367404091592, + -0.6357979777111558 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 402.96522300585735, + 543.2367404091592, + -0.6357979777111558 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 405.56329921721067, + 544.7367404091592, + -0.6357979777111558 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 408.161375428564, + 546.2367404091592, + -0.6357979777111558 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 410.7594516399173, + 547.7367404091592, + -0.6357979777111558 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 413.3575278512706, + 549.2367404091592, + -0.6357979777111558 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 415.95560406262393, + 550.7367404091592, + -0.6357979777111558 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 418.55368027397725, + 552.2367404091592, + -0.6357979777111558 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 421.15175648533057, + 553.7367404091592, + -0.6357979777111558 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 423.7498326966839, + 555.2367404091592, + -0.6357979777111558 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 426.3479089080372, + 556.7367404091592, + -0.6357979777111558 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 428.9459851193905, + 558.2367404091592, + -0.6357979777111558 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 431.54406133074383, + 559.7367404091592, + -0.6357979777111558 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 434.14213754209715, + 561.2367404091592, + -0.6357979777111558 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 436.74021375345046, + 562.7367404091592, + -0.6357979777111558 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 439.84950744628907, + 563.3985629272461, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-7-53_1285228804/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-7-53_1285228804/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..81fb3390fab50e6e798b67aeb9172e282542d6b6 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-7-53_1285228804/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -752.1731036790204, + 279.8606562101989, + 2.476109864635026 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -750.6731036790204, + 277.2625799988456, + 2.476109864635026 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -749.1731036790204, + 274.66450378749227, + 2.476109864635026 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -747.6731036790204, + 272.06642757613895, + 2.476109864635026 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -746.1731036790204, + 269.46835136478563, + 2.476109864635026 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -744.6731036790204, + 266.8702751534323, + 2.476109864635026 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -743.1731036790204, + 264.272198942079, + 2.476109864635026 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -741.6731036790204, + 261.6741227307257, + 2.476109864635026 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -741.6731036790204, + 261.6741227307257, + 2.476109864635026 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -739.075027467667, + 260.1741227307257, + 2.476109864635026 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -736.4769512563137, + 258.6741227307257, + 2.476109864635026 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -733.8788750449603, + 257.1741227307257, + 2.476109864635026 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -731.2807988336069, + 255.67412273072568, + 2.476109864635026 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -728.6827226222536, + 254.17412273072568, + 2.476109864635026 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -726.0846464109002, + 252.67412273072568, + 2.476109864635026 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -723.4865701995468, + 251.17412273072568, + 2.476109864635026 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -720.8884939881934, + 249.67412273072568, + 2.476109864635026 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -718.2904177768401, + 248.17412273072568, + 2.476109864635026 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -715.6923415654867, + 246.67412273072568, + 2.476109864635026 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -713.0942653541333, + 245.17412273072568, + 2.476109864635026 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -710.4961891427799, + 243.67412273072568, + 2.476109864635026 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -710.4961891427799, + 243.67412273072568, + 2.476109864635026 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -708.9961891427799, + 241.07604651937237, + 2.476109864635026 + ], + "type": "stop", + "value": 0, + "yaw": -1.047197551196588 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -707.2679043579102, + 238.37122535705566, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-8-21_502278611/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-8-21_502278611/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e18c5a1b05255783a343ab4129cfce5407dfea7d --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-8-21_502278611/pose.jsonl @@ -0,0 +1,443 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -195.45509396819716, + -515.7098859886167, + -4.684671581001338 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -198.05317017955048, + -514.2098859886167, + -4.684671581001338 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -200.6512463909038, + -512.7098859886167, + -4.684671581001338 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -203.2493226022571, + -511.20988598861675, + -4.684671581001338 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -205.84739881361043, + -509.70988598861675, + -4.684671581001338 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -208.44547502496374, + -508.20988598861675, + -4.684671581001338 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -211.04355123631706, + -506.70988598861675, + -4.684671581001338 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -213.64162744767037, + -505.20988598861675, + -4.684671581001338 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -216.2397036590237, + -503.70988598861675, + -4.684671581001338 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -218.837779870377, + -502.20988598861675, + -4.684671581001338 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -221.43585608173032, + -500.70988598861675, + -4.684671581001338 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -224.03393229308364, + -499.20988598861675, + -4.684671581001338 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -226.63200850443695, + -497.70988598861675, + -4.684671581001338 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -229.23008471579027, + -496.20988598861675, + -4.684671581001338 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -231.82816092714359, + -494.70988598861675, + -4.684671581001338 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -234.4262371384969, + -493.20988598861675, + -4.684671581001338 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -237.02431334985022, + -491.70988598861675, + -4.684671581001338 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -239.62238956120353, + -490.20988598861675, + -4.684671581001338 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -242.22046577255685, + -488.70988598861675, + -4.684671581001338 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -244.81854198391017, + -487.20988598861675, + -4.684671581001338 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -247.41661819526348, + -485.70988598861675, + -4.684671581001338 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -250.0146944066168, + -484.20988598861675, + -4.684671581001338 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -252.6127706179701, + -482.70988598861675, + -4.684671581001338 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -255.21084682932343, + -481.20988598861675, + -4.684671581001338 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -257.80892304067675, + -479.70988598861675, + -4.684671581001338 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -260.40699925203006, + -478.20988598861675, + -4.684671581001338 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -263.0050754633834, + -476.70988598861675, + -4.684671581001338 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -265.6031516747367, + -475.20988598861675, + -4.684671581001338 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -268.20122788609, + -473.70988598861675, + -4.684671581001338 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -268.20122788609, + -473.70988598861675, + -4.684671581001338 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -268.20122788609, + -473.70988598861675, + -4.684671581001338 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948968 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -268.20122788609, + -470.70988598861675, + -4.684671581001338 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -268.20122788609, + -467.70988598861675, + -4.684671581001338 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -270.6246540832519, + -464.87673126220704, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-0-37_1804289383/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-0-37_1804289383/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2abdf75ad17112a6ecdc13cce936b3faca2e6d83 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-0-37_1804289383/pose.jsonl @@ -0,0 +1,391 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -236.48238182109566, + 583.048411457489, + 3.070169828949524 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -236.48238182109566, + 586.048411457489, + 3.070169828949524 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -236.48238182109566, + 589.048411457489, + 3.070169828949524 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -236.48238182109566, + 592.048411457489, + 3.070169828949524 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -236.48238182109566, + 595.048411457489, + 3.070169828949524 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -236.48238182109566, + 598.048411457489, + 3.070169828949524 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -236.48238182109566, + 601.048411457489, + 3.070169828949524 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -236.48238182109566, + 604.048411457489, + 3.070169828949524 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -236.48238182109566, + 607.048411457489, + 3.070169828949524 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -236.48238182109566, + 610.048411457489, + 3.070169828949524 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -236.48238182109566, + 613.048411457489, + 3.070169828949524 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -236.48238182109566, + 616.048411457489, + 3.070169828949524 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -236.48238182109566, + 619.048411457489, + 3.070169828949524 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -236.48238182109566, + 622.048411457489, + 3.070169828949524 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -236.48238182109566, + 625.048411457489, + 3.070169828949524 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -236.48238182109566, + 628.048411457489, + 3.070169828949524 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -236.48238182109566, + 631.048411457489, + 3.070169828949524 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -236.48238182109566, + 634.048411457489, + 3.070169828949524 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -236.48238182109566, + 637.048411457489, + 3.070169828949524 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -236.48238182109566, + 640.048411457489, + 3.070169828949524 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -236.48238182109566, + 643.048411457489, + 3.070169828949524 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -236.48238182109566, + 646.048411457489, + 3.070169828949524 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -236.48238182109566, + 649.048411457489, + 3.070169828949524 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -236.48238182109566, + 649.048411457489, + 3.070169828949524 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -234.98238182109566, + 651.6464876688424, + 3.070169828949524 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -233.48238182109566, + 654.2445638801958, + 3.070169828949524 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -231.98238182109566, + 656.8426400915491, + 3.070169828949524 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -230.48238182109566, + 659.4407163029025, + 3.070169828949524 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -228.98238182109566, + 662.0387925142559, + 3.070169828949524 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -227.7933927154541, + 663.3823291015625, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-12-28_1734575198/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-12-28_1734575198/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1868470c6b9bf0a49824373b3826890efaf74a81 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-12-28_1734575198/pose.jsonl @@ -0,0 +1,417 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 355.27556286253696, + 526.1251559148184, + -0.37183577421980996 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 358.27556286253696, + 526.1251559148184, + -0.37183577421980996 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 361.27556286253696, + 526.1251559148184, + -0.37183577421980996 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 364.27556286253696, + 526.1251559148184, + -0.37183577421980996 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 367.27556286253696, + 526.1251559148184, + -0.37183577421980996 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 367.27556286253696, + 526.1251559148184, + -0.37183577421980996 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 369.8736390738903, + 527.6251559148184, + -0.37183577421980996 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 372.4717152852436, + 529.1251559148184, + -0.37183577421980996 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 375.0697914965969, + 530.6251559148184, + -0.37183577421980996 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 377.6678677079502, + 532.1251559148184, + -0.37183577421980996 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 380.26594391930354, + 533.6251559148184, + -0.37183577421980996 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 382.86402013065685, + 535.1251559148184, + -0.37183577421980996 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 385.46209634201017, + 536.6251559148184, + -0.37183577421980996 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 388.0601725533635, + 538.1251559148184, + -0.37183577421980996 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 390.6582487647168, + 539.6251559148184, + -0.37183577421980996 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 393.2563249760701, + 541.1251559148184, + -0.37183577421980996 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 395.85440118742343, + 542.6251559148184, + -0.37183577421980996 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 398.45247739877675, + 544.1251559148184, + -0.37183577421980996 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 401.05055361013007, + 545.6251559148184, + -0.37183577421980996 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 403.6486298214834, + 547.1251559148184, + -0.37183577421980996 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 406.2467060328367, + 548.6251559148184, + -0.37183577421980996 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 408.84478224419, + 550.1251559148184, + -0.37183577421980996 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 411.44285845554333, + 551.6251559148184, + -0.37183577421980996 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 414.04093466689665, + 553.1251559148184, + -0.37183577421980996 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 416.63901087824996, + 554.6251559148184, + -0.37183577421980996 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 419.2370870896033, + 556.1251559148184, + -0.37183577421980996 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 421.8351633009566, + 557.6251559148184, + -0.37183577421980996 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 424.4332395123099, + 559.1251559148184, + -0.37183577421980996 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 427.0313157236632, + 560.6251559148184, + -0.37183577421980996 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 429.62939193501654, + 562.1251559148184, + -0.37183577421980996 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 432.22746814636986, + 563.6251559148184, + -0.37183577421980996 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 434.03729019165036, + 563.8867979431152, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-18-21_1100661313/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-18-21_1100661313/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..89b15d651e670fc55da57f14a5d3b582f2f97782 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-18-21_1100661313/pose.jsonl @@ -0,0 +1,391 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 431.0522724835964, + 81.10767837458022, + 0.47341419552817765 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 432.5522724835964, + 78.5096021632269, + 0.47341419552817765 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 434.0522724835964, + 75.91152595187359, + 0.47341419552817765 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 435.5522724835964, + 73.31344974052027, + 0.47341419552817765 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 437.0522724835964, + 70.71537352916695, + 0.47341419552817765 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 438.5522724835964, + 68.11729731781364, + 0.47341419552817765 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 440.0522724835964, + 65.51922110646032, + 0.47341419552817765 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 441.5522724835964, + 62.921144895107005, + 0.47341419552817765 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 443.0522724835964, + 60.32306868375369, + 0.47341419552817765 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 444.5522724835964, + 57.72499247240037, + 0.47341419552817765 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 446.0522724835964, + 55.12691626104706, + 0.47341419552817765 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 447.5522724835964, + 52.52884004969374, + 0.47341419552817765 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 449.0522724835964, + 49.930763838340425, + 0.47341419552817765 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 450.5522724835964, + 47.33268762698711, + 0.47341419552817765 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 452.0522724835964, + 44.73461141563379, + 0.47341419552817765 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 453.5522724835964, + 42.13653520428048, + 0.47341419552817765 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 455.0522724835964, + 39.53845899292716, + 0.47341419552817765 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 456.5522724835964, + 36.940382781573845, + 0.47341419552817765 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 458.0522724835964, + 34.34230657022053, + 0.47341419552817765 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 459.5522724835964, + 31.744230358867213, + 0.47341419552817765 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 461.0522724835964, + 29.146154147513897, + 0.47341419552817765 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 461.0522724835964, + 29.146154147513897, + 0.47341419552817765 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 463.65034869494974, + 27.646154147513897, + 0.47341419552817765 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 466.24842490630306, + 26.146154147513897, + 0.47341419552817765 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 468.8465011176564, + 24.646154147513897, + 0.47341419552817765 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 471.4445773290097, + 23.146154147513897, + 0.47341419552817765 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 474.042653540363, + 21.646154147513897, + 0.47341419552817765 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 476.6407297517163, + 20.146154147513897, + 0.47341419552817765 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 479.23880596306964, + 18.646154147513897, + 0.47341419552817765 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 481.2035136413574, + 19.23793586730957, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-23-26_1918502651/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-23-26_1918502651/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b3a2607faded78afda1044d18dbd8a4c7c7a04da --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-23-26_1918502651/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -484.0033392873909, + 225.07645331856898, + -0.9512373444371223 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -486.6014154987442, + 223.57645331856898, + -0.9512373444371223 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -489.1994917100975, + 222.07645331856898, + -0.9512373444371223 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -491.7975679214508, + 220.57645331856898, + -0.9512373444371223 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -494.39564413280414, + 219.07645331856898, + -0.9512373444371223 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -496.99372034415745, + 217.57645331856898, + -0.9512373444371223 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -499.59179655551077, + 216.07645331856898, + -0.9512373444371223 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -502.1898727668641, + 214.57645331856898, + -0.9512373444371223 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -504.7879489782174, + 213.07645331856898, + -0.9512373444371223 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -507.3860251895707, + 211.57645331856898, + -0.9512373444371223 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -509.98410140092403, + 210.07645331856898, + -0.9512373444371223 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -512.5821776122773, + 208.57645331856898, + -0.9512373444371223 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -515.1802538236307, + 207.07645331856898, + -0.9512373444371223 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -517.778330034984, + 205.57645331856898, + -0.9512373444371223 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -520.3764062463374, + 204.07645331856898, + -0.9512373444371223 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -522.9744824576908, + 202.57645331856898, + -0.9512373444371223 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -525.5725586690442, + 201.07645331856898, + -0.9512373444371223 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -525.5725586690442, + 201.07645331856898, + -0.9512373444371223 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -528.5725586690442, + 201.07645331856898, + -0.9512373444371223 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -531.5725586690442, + 201.07645331856898, + -0.9512373444371223 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -534.5725586690442, + 201.07645331856898, + -0.9512373444371223 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -537.5725586690442, + 201.07645331856898, + -0.9512373444371223 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -540.5725586690442, + 201.07645331856898, + -0.9512373444371223 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -543.5725586690442, + 201.07645331856898, + -0.9512373444371223 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -546.5725586690442, + 201.07645331856898, + -0.9512373444371223 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -547.9009985351562, + 200.65022193908692, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-28-15_1892066601/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-28-15_1892066601/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a84fd2cd9007057ea0497244cf3baabcf61b395a --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-28-15_1892066601/pose.jsonl @@ -0,0 +1,417 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -263.2399934105872, + 610.8200142066797, + 4.398134451432798 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -265.8380696219405, + 609.3200142066797, + 4.398134451432798 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -268.43614583329384, + 607.8200142066797, + 4.398134451432798 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -271.03422204464715, + 606.3200142066797, + 4.398134451432798 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -273.63229825600047, + 604.8200142066797, + 4.398134451432798 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -276.2303744673538, + 603.3200142066797, + 4.398134451432798 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -278.8284506787071, + 601.8200142066797, + 4.398134451432798 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -281.4265268900604, + 600.3200142066797, + 4.398134451432798 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -284.02460310141373, + 598.8200142066797, + 4.398134451432798 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -286.62267931276705, + 597.3200142066797, + 4.398134451432798 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -289.22075552412036, + 595.8200142066797, + 4.398134451432798 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -291.8188317354737, + 594.3200142066797, + 4.398134451432798 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -294.416907946827, + 592.8200142066797, + 4.398134451432798 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -297.0149841581803, + 591.3200142066797, + 4.398134451432798 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -299.6130603695336, + 589.8200142066797, + 4.398134451432798 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -302.21113658088694, + 588.3200142066797, + 4.398134451432798 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -304.80921279224026, + 586.8200142066797, + 4.398134451432798 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -307.4072890035936, + 585.3200142066797, + 4.398134451432798 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -310.0053652149469, + 583.8200142066797, + 4.398134451432798 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -312.6034414263002, + 582.3200142066797, + 4.398134451432798 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -315.2015176376535, + 580.8200142066797, + 4.398134451432798 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -317.79959384900684, + 579.3200142066797, + 4.398134451432798 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -320.39767006036016, + 577.8200142066797, + 4.398134451432798 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -322.9957462717135, + 576.3200142066797, + 4.398134451432798 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -325.5938224830668, + 574.8200142066797, + 4.398134451432798 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -325.5938224830668, + 574.8200142066797, + 4.398134451432798 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -327.0938224830668, + 572.2219379953265, + 4.398134451432798 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -328.5938224830668, + 569.6238617839731, + 4.398134451432798 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -330.0938224830668, + 567.0257855726197, + 4.398134451432798 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -331.5938224830668, + 564.4277093612664, + 4.398134451432798 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -333.0938224830668, + 561.829633149913, + 4.398134451432798 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -335.0891884613037, + 561.9170278930663, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-30-17_485560280/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-30-17_485560280/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..efc5a8cb81a687835aee00ca91461f45780b506a --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-30-17_485560280/pose.jsonl @@ -0,0 +1,495 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -589.2289639880041, + 184.52117483651986, + -0.9483515044410549 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -591.8270401993575, + 186.02117483651986, + -0.9483515044410549 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -594.4251164107109, + 187.52117483651986, + -0.9483515044410549 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -597.0231926220642, + 189.02117483651986, + -0.9483515044410549 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -599.6212688334176, + 190.52117483651986, + -0.9483515044410549 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -602.219345044771, + 192.02117483651986, + -0.9483515044410549 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -604.8174212561244, + 193.52117483651986, + -0.9483515044410549 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -607.4154974674777, + 195.02117483651986, + -0.9483515044410549 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -610.0135736788311, + 196.52117483651986, + -0.9483515044410549 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -612.6116498901845, + 198.02117483651986, + -0.9483515044410549 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -615.2097261015379, + 199.52117483651986, + -0.9483515044410549 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -617.8078023128912, + 201.02117483651986, + -0.9483515044410549 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -620.4058785242446, + 202.52117483651986, + -0.9483515044410549 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -623.003954735598, + 204.02117483651986, + -0.9483515044410549 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -625.6020309469513, + 205.52117483651986, + -0.9483515044410549 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -628.2001071583047, + 207.02117483651986, + -0.9483515044410549 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -630.7981833696581, + 208.52117483651986, + -0.9483515044410549 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -633.3962595810115, + 210.02117483651986, + -0.9483515044410549 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -635.9943357923648, + 211.52117483651986, + -0.9483515044410549 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -638.5924120037182, + 213.02117483651986, + -0.9483515044410549 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -641.1904882150716, + 214.52117483651986, + -0.9483515044410549 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -643.788564426425, + 216.02117483651986, + -0.9483515044410549 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -646.3866406377783, + 217.52117483651986, + -0.9483515044410549 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -648.9847168491317, + 219.02117483651986, + -0.9483515044410549 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -651.5827930604851, + 220.52117483651986, + -0.9483515044410549 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -654.1808692718384, + 222.02117483651986, + -0.9483515044410549 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -656.7789454831918, + 223.52117483651986, + -0.9483515044410549 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -659.3770216945452, + 225.02117483651986, + -0.9483515044410549 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -661.9750979058986, + 226.52117483651986, + -0.9483515044410549 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -664.5731741172519, + 228.02117483651986, + -0.9483515044410549 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -667.1712503286053, + 229.52117483651986, + -0.9483515044410549 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -669.7693265399587, + 231.02117483651986, + -0.9483515044410549 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -672.367402751312, + 232.52117483651986, + -0.9483515044410549 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -674.9654789626654, + 234.02117483651986, + -0.9483515044410549 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -677.5635551740188, + 235.52117483651986, + -0.9483515044410549 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -680.1616313853722, + 237.02117483651986, + -0.9483515044410549 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -682.7597075967255, + 238.52117483651986, + -0.9483515044410549 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -684.7201055908203, + 237.53857521057128, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-33-5_1633108117/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-33-5_1633108117/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9f54093a91c77c14a516ceef7833948addb6a690 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-33-5_1633108117/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 469.4989540693949, + 499.34696987438036, + 0.5477606266658182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 467.9989540693949, + 501.9450460857337, + 0.5477606266658182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 466.4989540693949, + 504.543122297087, + 0.5477606266658182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 464.9989540693949, + 507.1411985084403, + 0.5477606266658182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 463.4989540693949, + 509.7392747197936, + 0.5477606266658182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 461.9989540693949, + 512.337350931147, + 0.5477606266658182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 460.4989540693949, + 514.9354271425002, + 0.5477606266658182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 458.9989540693949, + 517.5335033538536, + 0.5477606266658182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 457.4989540693949, + 520.131579565207, + 0.5477606266658182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 455.9989540693949, + 522.7296557765603, + 0.5477606266658182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 454.4989540693949, + 525.3277319879137, + 0.5477606266658182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 452.9989540693949, + 527.9258081992671, + 0.5477606266658182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 451.4989540693949, + 530.5238844106204, + 0.5477606266658182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 449.9989540693949, + 533.1219606219738, + 0.5477606266658182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 448.4989540693949, + 535.7200368333272, + 0.5477606266658182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 446.9989540693949, + 538.3181130446806, + 0.5477606266658182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 445.4989540693949, + 540.9161892560339, + 0.5477606266658182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 443.9989540693949, + 543.5142654673873, + 0.5477606266658182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 442.4989540693949, + 546.1123416787407, + 0.5477606266658182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 440.9989540693949, + 548.710417890094, + 0.5477606266658182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 439.4989540693949, + 551.3084941014474, + 0.5477606266658182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 437.9989540693949, + 553.9065703128008, + 0.5477606266658182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 436.4989540693949, + 556.5046465241542, + 0.5477606266658182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 434.9989540693949, + 559.1027227355075, + 0.5477606266658182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 433.4989540693949, + 561.7007989468609, + 0.5477606266658182 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 434.03729019165036, + 563.8867979431152, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-34-30_791698927/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-34-30_791698927/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3c8c7fda85e6577fd6000d0fcd31efbc06839391 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-34-30_791698927/pose.jsonl @@ -0,0 +1,430 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -874.509340840369, + 396.26815569312123, + 3.7105557975952586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -877.1074170517222, + 394.76815569312123, + 3.7105557975952586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -879.7054932630756, + 393.26815569312123, + 3.7105557975952586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -882.303569474429, + 391.76815569312123, + 3.7105557975952586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -884.9016456857823, + 390.26815569312123, + 3.7105557975952586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -887.4997218971357, + 388.76815569312123, + 3.7105557975952586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -890.0977981084891, + 387.26815569312123, + 3.7105557975952586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -892.6958743198425, + 385.76815569312123, + 3.7105557975952586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -895.2939505311958, + 384.26815569312123, + 3.7105557975952586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -897.8920267425492, + 382.76815569312123, + 3.7105557975952586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -900.4901029539026, + 381.26815569312123, + 3.7105557975952586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -903.088179165256, + 379.76815569312123, + 3.7105557975952586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -905.6862553766093, + 378.26815569312123, + 3.7105557975952586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -908.2843315879627, + 376.76815569312123, + 3.7105557975952586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -910.8824077993161, + 375.26815569312123, + 3.7105557975952586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -913.4804840106694, + 373.76815569312123, + 3.7105557975952586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -916.0785602220228, + 372.26815569312123, + 3.7105557975952586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -918.6766364333762, + 370.76815569312123, + 3.7105557975952586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -921.2747126447296, + 369.26815569312123, + 3.7105557975952586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -923.8727888560829, + 367.76815569312123, + 3.7105557975952586 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -923.8727888560829, + 367.76815569312123, + 3.7105557975952586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -925.3727888560829, + 365.1700794817679, + 3.7105557975952586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -926.8727888560829, + 362.5720032704146, + 3.7105557975952586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -928.3727888560829, + 359.9739270590613, + 3.7105557975952586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -929.8727888560829, + 357.37585084770797, + 3.7105557975952586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -931.3727888560829, + 354.77777463635465, + 3.7105557975952586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -932.8727888560829, + 352.17969842500133, + 3.7105557975952586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -934.3727888560829, + 349.581622213648, + 3.7105557975952586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -935.8727888560829, + 346.9835460022947, + 3.7105557975952586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -937.3727888560829, + 344.3854697909414, + 3.7105557975952586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -938.8727888560829, + 341.78739357958807, + 3.7105557975952586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -940.3727888560829, + 339.18931736823475, + 3.7105557975952586 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -942.5730328369141, + 336.42247901916505, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-37-44_2040332871/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-37-44_2040332871/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e2d42f4884484d1393215a265a9183dfa8d02cd4 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-37-44_2040332871/pose.jsonl @@ -0,0 +1,300 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -762.0593192369167, + 24.51136143678385, + 4.2690071143647454 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -763.5593192369167, + 27.109437648137167, + 4.2690071143647454 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -765.0593192369167, + 29.707513859490483, + 4.2690071143647454 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -766.5593192369167, + 32.3055900708438, + 4.2690071143647454 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -768.0593192369167, + 34.903666282197115, + 4.2690071143647454 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -769.5593192369167, + 37.50174249355043, + 4.2690071143647454 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -771.0593192369167, + 40.09981870490375, + 4.2690071143647454 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -772.5593192369167, + 42.69789491625706, + 4.2690071143647454 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -774.0593192369167, + 45.29597112761038, + 4.2690071143647454 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -775.5593192369167, + 47.894047338963695, + 4.2690071143647454 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -777.0593192369167, + 50.49212355031701, + 4.2690071143647454 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -778.5593192369167, + 53.09019976167033, + 4.2690071143647454 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -780.0593192369167, + 55.68827597302364, + 4.2690071143647454 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -781.5593192369167, + 58.28635218437696, + 4.2690071143647454 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -783.0593192369167, + 60.884428395730275, + 4.2690071143647454 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -784.5593192369167, + 63.48250460708359, + 4.2690071143647454 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -784.5593192369167, + 63.48250460708359, + 4.2690071143647454 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -784.5593192369167, + 66.4825046070836, + 4.2690071143647454 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -784.5593192369167, + 69.4825046070836, + 4.2690071143647454 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -784.5593192369167, + 72.4825046070836, + 4.2690071143647454 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -784.5593192369167, + 75.4825046070836, + 4.2690071143647454 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -784.5593192369167, + 78.4825046070836, + 4.2690071143647454 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -785.9369680786133, + 81.05284317016601, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-4-0_1102520059/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-4-0_1102520059/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..20212976911752923fdd10e6cfa0ab662a96ecfb --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-4-0_1102520059/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -773.9913743860657, + 251.92864557353263, + -1.0240104819639355 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -770.9913743860657, + 251.92864557353263, + -1.0240104819639355 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -767.9913743860657, + 251.92864557353263, + -1.0240104819639355 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -764.9913743860657, + 251.92864557353263, + -1.0240104819639355 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -761.9913743860657, + 251.92864557353263, + -1.0240104819639355 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -758.9913743860657, + 251.92864557353263, + -1.0240104819639355 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -755.9913743860657, + 251.92864557353263, + -1.0240104819639355 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -752.9913743860657, + 251.92864557353263, + -1.0240104819639355 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -749.9913743860657, + 251.92864557353263, + -1.0240104819639355 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -746.9913743860657, + 251.92864557353263, + -1.0240104819639355 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -743.9913743860657, + 251.92864557353263, + -1.0240104819639355 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -740.9913743860657, + 251.92864557353263, + -1.0240104819639355 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -737.9913743860657, + 251.92864557353263, + -1.0240104819639355 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -734.9913743860657, + 251.92864557353263, + -1.0240104819639355 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -731.9913743860657, + 251.92864557353263, + -1.0240104819639355 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -728.9913743860657, + 251.92864557353263, + -1.0240104819639355 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -728.9913743860657, + 251.92864557353263, + -1.0240104819639355 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -726.3932981747123, + 250.42864557353263, + -1.0240104819639355 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -723.7952219633589, + 248.92864557353263, + -1.0240104819639355 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -721.1971457520056, + 247.42864557353263, + -1.0240104819639355 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -718.5990695406522, + 245.92864557353263, + -1.0240104819639355 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -716.0009933292988, + 244.42864557353263, + -1.0240104819639355 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -713.4029171179454, + 242.92864557353263, + -1.0240104819639355 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -710.8048409065921, + 241.42864557353263, + -1.0240104819639355 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -708.2067646952387, + 239.92864557353263, + -1.0240104819639355 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -707.2679043579102, + 238.37122535705566, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-41-51_439493451/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-41-51_439493451/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..633c5e4111eee7352deeecbac687a25b43698409 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-41-51_439493451/pose.jsonl @@ -0,0 +1,417 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -843.1976764589937, + 135.32163946391518, + 0.4973546924606964 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -840.1976764589937, + 135.32163946391518, + 0.4973546924606964 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -840.1976764589937, + 135.32163946391518, + 0.4973546924606964 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -840.1976764589937, + 135.32163946391518, + 0.4973546924606964 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -838.6976764589937, + 132.72356325256186, + 0.4973546924606964 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -837.1976764589937, + 130.12548704120854, + 0.4973546924606964 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -835.6976764589937, + 127.52741082985523, + 0.4973546924606964 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -834.1976764589937, + 124.92933461850191, + 0.4973546924606964 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -832.6976764589937, + 122.3312584071486, + 0.4973546924606964 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -831.1976764589937, + 119.73318219579528, + 0.4973546924606964 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -829.6976764589937, + 117.13510598444196, + 0.4973546924606964 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -828.1976764589937, + 114.53702977308865, + 0.4973546924606964 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -826.6976764589937, + 111.93895356173533, + 0.4973546924606964 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -825.1976764589937, + 109.34087735038202, + 0.4973546924606964 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -823.6976764589937, + 106.7428011390287, + 0.4973546924606964 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -822.1976764589937, + 104.14472492767538, + 0.4973546924606964 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -820.6976764589937, + 101.54664871632207, + 0.4973546924606964 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -820.6976764589937, + 101.54664871632207, + 0.4973546924606964 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -818.0996002476404, + 100.04664871632207, + 0.4973546924606964 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -815.501524036287, + 98.54664871632207, + 0.4973546924606964 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -812.9034478249337, + 97.04664871632207, + 0.4973546924606964 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -810.3053716135803, + 95.54664871632207, + 0.4973546924606964 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -807.7072954022269, + 94.04664871632207, + 0.4973546924606964 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -805.1092191908735, + 92.54664871632207, + 0.4973546924606964 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -802.5111429795202, + 91.04664871632207, + 0.4973546924606964 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -799.9130667681668, + 89.54664871632207, + 0.4973546924606964 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -797.3149905568134, + 88.04664871632207, + 0.4973546924606964 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -794.71691434546, + 86.54664871632207, + 0.4973546924606964 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -792.1188381341067, + 85.04664871632207, + 0.4973546924606964 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -789.5207619227533, + 83.54664871632207, + 0.4973546924606964 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -786.9226857113999, + 82.04664871632207, + 0.4973546924606964 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -785.9369680786133, + 81.05284317016601, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-44-23_269441500/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-44-23_269441500/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..749fb69ab443025b4c686a5729b720c1e2e2eb11 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-44-23_269441500/pose.jsonl @@ -0,0 +1,352 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 370.0459138158329, + 102.15990251859212, + -3.3002539888585685 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 368.5459138158329, + 99.5618263072388, + -3.3002539888585685 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 367.0459138158329, + 96.96375009588549, + -3.3002539888585685 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 365.5459138158329, + 94.36567388453217, + -3.3002539888585685 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 364.0459138158329, + 91.76759767317886, + -3.3002539888585685 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 362.5459138158329, + 89.16952146182554, + -3.3002539888585685 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 361.0459138158329, + 86.57144525047222, + -3.3002539888585685 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 359.5459138158329, + 83.97336903911891, + -3.3002539888585685 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 358.0459138158329, + 81.37529282776559, + -3.3002539888585685 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 356.5459138158329, + 78.77721661641228, + -3.3002539888585685 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 355.0459138158329, + 76.17914040505896, + -3.3002539888585685 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 353.5459138158329, + 73.58106419370564, + -3.3002539888585685 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 352.0459138158329, + 70.98298798235233, + -3.3002539888585685 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 350.5459138158329, + 68.38491177099901, + -3.3002539888585685 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 349.0459138158329, + 65.7868355596457, + -3.3002539888585685 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 347.5459138158329, + 63.18875934829238, + -3.3002539888585685 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 346.0459138158329, + 60.59068313693906, + -3.3002539888585685 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 346.0459138158329, + 60.59068313693906, + -3.3002539888585685 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 346.0459138158329, + 57.59068313693906, + -3.3002539888585685 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 346.0459138158329, + 54.59068313693906, + -3.3002539888585685 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 346.0459138158329, + 51.59068313693906, + -3.3002539888585685 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 346.0459138158329, + 48.59068313693906, + -3.3002539888585685 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 346.0459138158329, + 45.59068313693906, + -3.3002539888585685 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 346.0459138158329, + 42.59068313693906, + -3.3002539888585685 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 346.0459138158329, + 39.59068313693906, + -3.3002539888585685 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 346.0459138158329, + 36.59068313693906, + -3.3002539888585685 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 344.9839593505859, + 35.070869789123535, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-45-44_8936987/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-45-44_8936987/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4a172a9dae95f4645be0d9387cd6cd279a274f0b --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-45-44_8936987/pose.jsonl @@ -0,0 +1,404 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -780.8942368623935, + -63.64722893998032, + -4.915333899883789 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -782.3942368623935, + -61.04915272862701, + -4.915333899883789 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -783.8942368623935, + -58.45107651727369, + -4.915333899883789 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -785.3942368623935, + -55.853000305920375, + -4.915333899883789 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -786.8942368623935, + -53.25492409456706, + -4.915333899883789 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -788.3942368623935, + -50.65684788321374, + -4.915333899883789 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -789.8942368623935, + -48.05877167186043, + -4.915333899883789 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -791.3942368623935, + -45.46069546050711, + -4.915333899883789 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -792.8942368623935, + -42.862619249153795, + -4.915333899883789 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -794.3942368623935, + -40.26454303780048, + -4.915333899883789 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -795.8942368623935, + -37.66646682644716, + -4.915333899883789 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -797.3942368623935, + -35.06839061509385, + -4.915333899883789 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -798.8942368623935, + -32.47031440374053, + -4.915333899883789 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -800.3942368623935, + -29.872238192387215, + -4.915333899883789 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -801.8942368623935, + -27.2741619810339, + -4.915333899883789 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -803.3942368623935, + -24.676085769680583, + -4.915333899883789 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -804.8942368623935, + -22.078009558327267, + -4.915333899883789 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -806.3942368623935, + -19.47993334697395, + -4.915333899883789 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -807.8942368623935, + -16.881857135620635, + -4.915333899883789 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -809.3942368623935, + -14.283780924267319, + -4.915333899883789 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -810.8942368623935, + -11.685704712914003, + -4.915333899883789 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -812.3942368623935, + -9.087628501560687, + -4.915333899883789 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -813.8942368623935, + -6.489552290207371, + -4.915333899883789 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -815.3942368623935, + -3.8914760788540548, + -4.915333899883789 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -816.8942368623935, + -1.2933998675007388, + -4.915333899883789 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -818.3942368623935, + 1.3046763438525772, + -4.915333899883789 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -819.8942368623935, + 3.9027525552058933, + -4.915333899883789 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -821.3942368623935, + 6.500828766559209, + -4.915333899883789 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -821.3942368623935, + 6.500828766559209, + -4.915333899883789 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -821.3942368623935, + 9.50082876655921, + -4.915333899883789 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -821.0513497924804, + 12.496731524467467, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-47-9_841148365/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-47-9_841148365/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ac3c0615ff13a9a0eac41e06dce92c424b7c3606 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-47-9_841148365/pose.jsonl @@ -0,0 +1,352 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -923.7442637109807, + 300.1219737351397, + 3.3951886089425205 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -926.7442637109807, + 300.1219737351397, + 3.3951886089425205 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -929.7442637109807, + 300.1219737351397, + 3.3951886089425205 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -932.7442637109807, + 300.1219737351397, + 3.3951886089425205 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -935.7442637109807, + 300.1219737351397, + 3.3951886089425205 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -938.7442637109807, + 300.1219737351397, + 3.3951886089425205 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -941.7442637109807, + 300.1219737351397, + 3.3951886089425205 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -944.7442637109807, + 300.1219737351397, + 3.3951886089425205 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -947.7442637109807, + 300.1219737351397, + 3.3951886089425205 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -950.7442637109807, + 300.1219737351397, + 3.3951886089425205 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -953.7442637109807, + 300.1219737351397, + 3.3951886089425205 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -956.7442637109807, + 300.1219737351397, + 3.3951886089425205 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -959.7442637109807, + 300.1219737351397, + 3.3951886089425205 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -962.7442637109807, + 300.1219737351397, + 3.3951886089425205 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -965.7442637109807, + 300.1219737351397, + 3.3951886089425205 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -968.7442637109807, + 300.1219737351397, + 3.3951886089425205 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -971.7442637109807, + 300.1219737351397, + 3.3951886089425205 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -974.7442637109807, + 300.1219737351397, + 3.3951886089425205 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -977.7442637109807, + 300.1219737351397, + 3.3951886089425205 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -980.7442637109807, + 300.1219737351397, + 3.3951886089425205 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -983.7442637109807, + 300.1219737351397, + 3.3951886089425205 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -986.7442637109807, + 300.1219737351397, + 3.3951886089425205 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -989.7442637109807, + 300.1219737351397, + 3.3951886089425205 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -992.7442637109807, + 300.1219737351397, + 3.3951886089425205 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -995.7442637109807, + 300.1219737351397, + 3.3951886089425205 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -998.7442637109807, + 300.1219737351397, + 3.3951886089425205 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1041.4117810058594, + 301.62743286132815, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-48-16_1186452551/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-48-16_1186452551/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d6782d1056f5d85e1e182c02bf93b8668072c8b3 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-48-16_1186452551/pose.jsonl @@ -0,0 +1,443 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -771.6846004770713, + 268.28018096327327, + -4.222585722207746 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -768.6846004770713, + 268.28018096327327, + -4.222585722207746 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -765.6846004770713, + 268.28018096327327, + -4.222585722207746 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -762.6846004770713, + 268.28018096327327, + -4.222585722207746 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -759.6846004770713, + 268.28018096327327, + -4.222585722207746 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -756.6846004770713, + 268.28018096327327, + -4.222585722207746 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -753.6846004770713, + 268.28018096327327, + -4.222585722207746 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -750.6846004770713, + 268.28018096327327, + -4.222585722207746 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -747.6846004770713, + 268.28018096327327, + -4.222585722207746 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -744.6846004770713, + 268.28018096327327, + -4.222585722207746 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -741.6846004770713, + 268.28018096327327, + -4.222585722207746 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -738.6846004770713, + 268.28018096327327, + -4.222585722207746 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -735.6846004770713, + 268.28018096327327, + -4.222585722207746 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -735.6846004770713, + 268.28018096327327, + -4.222585722207746 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -733.086524265718, + 266.78018096327327, + -4.222585722207746 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -730.4884480543647, + 265.28018096327327, + -4.222585722207746 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -727.8903718430113, + 263.78018096327327, + -4.222585722207746 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -725.2922956316579, + 262.28018096327327, + -4.222585722207746 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -722.6942194203045, + 260.78018096327327, + -4.222585722207746 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -720.0961432089512, + 259.28018096327327, + -4.222585722207746 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -717.4980669975978, + 257.78018096327327, + -4.222585722207746 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -714.8999907862444, + 256.28018096327327, + -4.222585722207746 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -712.301914574891, + 254.78018096327327, + -4.222585722207746 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -709.7038383635377, + 253.28018096327327, + -4.222585722207746 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -707.1057621521843, + 251.78018096327327, + -4.222585722207746 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -704.5076859408309, + 250.28018096327327, + -4.222585722207746 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -701.9096097294776, + 248.78018096327327, + -4.222585722207746 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -699.3115335181242, + 247.28018096327327, + -4.222585722207746 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -696.7134573067708, + 245.78018096327327, + -4.222585722207746 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -694.1153810954174, + 244.28018096327327, + -4.222585722207746 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -691.5173048840641, + 242.78018096327327, + -4.222585722207746 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -688.9192286727107, + 241.28018096327327, + -4.222585722207746 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -686.3211524613573, + 239.78018096327327, + -4.222585722207746 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -684.7201055908203, + 237.53857521057128, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-57-39_680466996/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-57-39_680466996/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d50e8cc60661675593283554e6e2b0b30470c93a --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-57-39_680466996/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -879.4986810177293, + 480.9401277621366, + -2.510421930811498 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -879.4986810177293, + 477.9401277621366, + -2.510421930811498 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -879.4986810177293, + 474.9401277621366, + -2.510421930811498 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -879.4986810177293, + 471.9401277621366, + -2.510421930811498 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -879.4986810177293, + 468.9401277621366, + -2.510421930811498 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -879.4986810177293, + 465.9401277621366, + -2.510421930811498 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -879.4986810177293, + 462.9401277621366, + -2.510421930811498 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -879.4986810177293, + 459.9401277621366, + -2.510421930811498 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -879.4986810177293, + 456.9401277621366, + -2.510421930811498 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -879.4986810177293, + 453.9401277621366, + -2.510421930811498 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -879.4986810177293, + 450.9401277621366, + -2.510421930811498 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -879.4986810177293, + 447.9401277621366, + -2.510421930811498 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -879.4986810177293, + 444.9401277621366, + -2.510421930811498 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -879.4986810177293, + 441.9401277621366, + -2.510421930811498 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -879.4986810177293, + 438.9401277621366, + -2.510421930811498 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -879.4986810177293, + 435.9401277621366, + -2.510421930811498 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -879.4986810177293, + 432.9401277621366, + -2.510421930811498 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -879.4986810177293, + 429.9401277621366, + -2.510421930811498 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -879.4986810177293, + 426.9401277621366, + -2.510421930811498 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -879.4986810177293, + 426.9401277621366, + -2.510421930811498 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -880.9986810177293, + 424.3420515507833, + -2.510421930811498 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -882.4986810177293, + 421.74397533943, + -2.510421930811498 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -883.9986810177293, + 419.1458991280767, + -2.510421930811498 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -884.2225183105469, + 417.81855880737305, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-59-14_1398295499/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-59-14_1398295499/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c00362664e5fb4d8100bee4396ac8f0ad89b81b3 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-59-14_1398295499/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -252.89113616846018, + -385.3224761820746, + 2.7836955836335413 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -255.4892123798135, + -386.8224761820746, + 2.7836955836335413 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -258.08728859116684, + -388.3224761820746, + 2.7836955836335413 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914993 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -260.68536480252016, + -389.8224761820746, + 2.7836955836335413 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -263.28344101387347, + -391.3224761820746, + 2.7836955836335413 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -265.8815172252268, + -392.8224761820746, + 2.7836955836335413 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -268.4795934365801, + -394.3224761820746, + 2.7836955836335413 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -271.0776696479334, + -395.8224761820746, + 2.7836955836335413 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -273.67574585928674, + -397.3224761820746, + 2.7836955836335413 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -276.27382207064005, + -398.8224761820746, + 2.7836955836335413 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -278.87189828199337, + -400.3224761820746, + 2.7836955836335413 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -281.4699744933467, + -401.8224761820746, + 2.7836955836335413 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -281.4699744933467, + -401.8224761820746, + 2.7836955836335413 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -284.4699744933467, + -401.8224761820746, + 2.7836955836335413 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -287.4699744933467, + -401.8224761820746, + 2.7836955836335413 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -290.4699744933467, + -401.8224761820746, + 2.7836955836335413 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -293.4699744933467, + -401.8224761820746, + 2.7836955836335413 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -296.4699744933467, + -401.8224761820746, + 2.7836955836335413 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -299.4699744933467, + -401.8224761820746, + 2.7836955836335413 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -302.4699744933467, + -401.8224761820746, + 2.7836955836335413 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -305.4699744933467, + -401.8224761820746, + 2.7836955836335413 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -308.4699744933467, + -401.8224761820746, + 2.7836955836335413 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -311.4699744933467, + -401.8224761820746, + 2.7836955836335413 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -314.4699744933467, + -401.8224761820746, + 2.7836955836335413 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -317.4699744933467, + -401.8224761820746, + 2.7836955836335413 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -319.6267106628418, + -403.69195602416994, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-9-22_1369133069/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-9-22_1369133069/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9f4464502eec20404480202ca57053b36fb6b401 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-9-22_1369133069/pose.jsonl @@ -0,0 +1,378 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -83.80286202870671, + -268.08256770980654, + 2.256837759143325 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -80.80286202870671, + -268.08256770980654, + 2.256837759143325 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -77.80286202870671, + -268.08256770980654, + 2.256837759143325 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -74.80286202870671, + -268.08256770980654, + 2.256837759143325 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -71.80286202870671, + -268.08256770980654, + 2.256837759143325 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -68.80286202870671, + -268.08256770980654, + 2.256837759143325 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -65.80286202870671, + -268.08256770980654, + 2.256837759143325 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -62.80286202870671, + -268.08256770980654, + 2.256837759143325 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -59.80286202870671, + -268.08256770980654, + 2.256837759143325 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -56.80286202870671, + -268.08256770980654, + 2.256837759143325 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -53.80286202870671, + -268.08256770980654, + 2.256837759143325 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -50.80286202870671, + -268.08256770980654, + 2.256837759143325 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -47.80286202870671, + -268.08256770980654, + 2.256837759143325 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -44.80286202870671, + -268.08256770980654, + 2.256837759143325 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -41.80286202870671, + -268.08256770980654, + 2.256837759143325 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -38.80286202870671, + -268.08256770980654, + 2.256837759143325 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -35.80286202870671, + -268.08256770980654, + 2.256837759143325 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -35.80286202870671, + -268.08256770980654, + 2.256837759143325 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -33.2047858173534, + -266.58256770980654, + 2.256837759143325 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -30.60670960600008, + -265.08256770980654, + 2.256837759143325 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -28.008633394646765, + -263.58256770980654, + 2.256837759143325 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -25.41055718329345, + -262.08256770980654, + 2.256837759143325 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -22.812480971940133, + -260.58256770980654, + 2.256837759143325 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -20.214404760586817, + -259.08256770980654, + 2.256837759143325 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -17.6163285492335, + -257.58256770980654, + 2.256837759143325 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -15.018252337880185, + -256.08256770980654, + 2.256837759143325 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -12.420176126526869, + -254.58256770980654, + 2.256837759143325 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -9.822099915173553, + -253.08256770980654, + 2.256837759143325 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -8.725501627922059, + -251.86730323791502, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-10-50_188213258/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-10-50_188213258/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..611bd8a29958f41be568ffc484e96a5e03ccc06b --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-10-50_188213258/pose.jsonl @@ -0,0 +1,378 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 212.4310175561972, + 620.6802963240877, + -2.650875023462701 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 215.0290937675505, + 622.1802963240877, + -2.650875023462701 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 217.62716997890382, + 623.6802963240877, + -2.650875023462701 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 220.22524619025714, + 625.1802963240877, + -2.650875023462701 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 220.22524619025714, + 625.1802963240877, + -2.650875023462701 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 221.72524619025714, + 627.7783725354411, + -2.650875023462701 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 223.22524619025714, + 630.3764487467945, + -2.650875023462701 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 224.72524619025714, + 632.9745249581479, + -2.650875023462701 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 226.22524619025714, + 635.5726011695012, + -2.650875023462701 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 227.72524619025714, + 638.1706773808546, + -2.650875023462701 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 229.22524619025714, + 640.768753592208, + -2.650875023462701 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 229.22524619025714, + 640.768753592208, + -2.650875023462701 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 229.22524619025714, + 643.768753592208, + -2.650875023462701 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 229.22524619025714, + 646.768753592208, + -2.650875023462701 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 229.22524619025714, + 649.768753592208, + -2.650875023462701 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 229.22524619025714, + 652.768753592208, + -2.650875023462701 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 229.22524619025714, + 655.768753592208, + -2.650875023462701 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 229.22524619025714, + 658.768753592208, + -2.650875023462701 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 229.22524619025714, + 661.768753592208, + -2.650875023462701 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 229.22524619025714, + 664.768753592208, + -2.650875023462701 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 229.22524619025714, + 667.768753592208, + -2.650875023462701 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 229.22524619025714, + 670.768753592208, + -2.650875023462701 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 229.22524619025714, + 673.768753592208, + -2.650875023462701 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 229.22524619025714, + 676.768753592208, + -2.650875023462701 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 229.22524619025714, + 679.768753592208, + -2.650875023462701 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 229.22524619025714, + 682.768753592208, + -2.650875023462701 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 229.22524619025714, + 685.768753592208, + -2.650875023462701 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 229.22524619025714, + 688.768753592208, + -2.650875023462701 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 229.7172834777832, + 692.2608906555175, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-15-12_1776808933/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-15-12_1776808933/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d2821b51cd2118f5576289d1a43b775d73f7b527 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-15-12_1776808933/pose.jsonl @@ -0,0 +1,495 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -221.2302607021557, + 15.18618368909165, + 1.558803650857465 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -219.7302607021557, + 12.588107477738333, + 1.558803650857465 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -218.2302607021557, + 9.990031266385017, + 1.558803650857465 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -216.7302607021557, + 7.391955055031701, + 1.558803650857465 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -215.2302607021557, + 4.793878843678385, + 1.558803650857465 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -213.7302607021557, + 2.1958026323250692, + 1.558803650857465 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -212.2302607021557, + -0.4022735790282468, + 1.558803650857465 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -210.7302607021557, + -3.000349790381563, + 1.558803650857465 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -209.2302607021557, + -5.598426001734879, + 1.558803650857465 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -207.7302607021557, + -8.196502213088195, + 1.558803650857465 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -206.2302607021557, + -10.79457842444151, + 1.558803650857465 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -204.7302607021557, + -13.392654635794827, + 1.558803650857465 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -203.2302607021557, + -15.990730847148143, + 1.558803650857465 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -201.7302607021557, + -18.58880705850146, + 1.558803650857465 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -200.2302607021557, + -21.186883269854775, + 1.558803650857465 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -198.7302607021557, + -23.78495948120809, + 1.558803650857465 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -197.2302607021557, + -26.383035692561407, + 1.558803650857465 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -195.7302607021557, + -28.981111903914723, + 1.558803650857465 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -194.2302607021557, + -31.57918811526804, + 1.558803650857465 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -192.7302607021557, + -34.177264326621355, + 1.558803650857465 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -191.2302607021557, + -36.77534053797467, + 1.558803650857465 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -189.7302607021557, + -39.37341674932799, + 1.558803650857465 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -188.2302607021557, + -41.9714929606813, + 1.558803650857465 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -186.7302607021557, + -44.56956917203462, + 1.558803650857465 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -185.2302607021557, + -47.167645383387935, + 1.558803650857465 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -183.7302607021557, + -49.76572159474125, + 1.558803650857465 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -183.7302607021557, + -49.76572159474125, + 1.558803650857465 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -181.1321844908024, + -51.26572159474125, + 1.558803650857465 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -178.53410827944907, + -52.76572159474125, + 1.558803650857465 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -175.93603206809576, + -54.26572159474125, + 1.558803650857465 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -173.33795585674244, + -55.76572159474125, + 1.558803650857465 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -170.73987964538912, + -57.26572159474125, + 1.558803650857465 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -168.1418034340358, + -58.76572159474125, + 1.558803650857465 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -165.5437272226825, + -60.26572159474125, + 1.558803650857465 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -162.94565101132918, + -61.76572159474125, + 1.558803650857465 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -160.34757479997586, + -63.26572159474125, + 1.558803650857465 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -157.74949858862254, + -64.76572159474125, + 1.558803650857465 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -156.47577671051025, + -64.65314291000367, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-18-33_1967681095/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-18-33_1967681095/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..652fb46e741e2399572e37b6598291ee641f94e2 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-18-33_1967681095/pose.jsonl @@ -0,0 +1,391 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -221.52801206391985, + -114.84487918234193, + 3.2306227896575894 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -218.92993585256653, + -113.34487918234193, + 3.2306227896575894 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -216.3318596412132, + -111.84487918234193, + 3.2306227896575894 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -213.7337834298599, + -110.34487918234193, + 3.2306227896575894 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -211.13570721850658, + -108.84487918234193, + 3.2306227896575894 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -208.53763100715327, + -107.34487918234193, + 3.2306227896575894 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -205.93955479579995, + -105.84487918234193, + 3.2306227896575894 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -203.34147858444663, + -104.34487918234193, + 3.2306227896575894 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -200.74340237309332, + -102.84487918234193, + 3.2306227896575894 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -198.14532616174, + -101.34487918234193, + 3.2306227896575894 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -195.54724995038669, + -99.84487918234193, + 3.2306227896575894 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -192.94917373903337, + -98.34487918234193, + 3.2306227896575894 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -190.35109752768005, + -96.84487918234193, + 3.2306227896575894 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -187.75302131632674, + -95.34487918234193, + 3.2306227896575894 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -185.15494510497342, + -93.84487918234193, + 3.2306227896575894 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -182.5568688936201, + -92.34487918234193, + 3.2306227896575894 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -179.9587926822668, + -90.84487918234193, + 3.2306227896575894 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -177.36071647091347, + -89.34487918234193, + 3.2306227896575894 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -174.76264025956016, + -87.84487918234193, + 3.2306227896575894 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -172.16456404820684, + -86.34487918234193, + 3.2306227896575894 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -169.56648783685353, + -84.84487918234193, + 3.2306227896575894 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -169.56648783685353, + -84.84487918234193, + 3.2306227896575894 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -168.06648783685353, + -82.24680297098861, + 3.2306227896575894 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -166.56648783685353, + -79.6487267596353, + 3.2306227896575894 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -165.06648783685353, + -77.05065054828198, + 3.2306227896575894 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -163.56648783685353, + -74.45257433692866, + 3.2306227896575894 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -162.06648783685353, + -71.85449812557535, + 3.2306227896575894 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -160.56648783685353, + -69.25642191422203, + 3.2306227896575894 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -159.06648783685353, + -66.65834570286871, + 3.2306227896575894 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -156.47577671051025, + -64.65314291000367, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-23-21_625032172/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-23-21_625032172/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..923b3083eed6392848db60ca3b8354f88aa3cab4 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-23-21_625032172/pose.jsonl @@ -0,0 +1,404 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -356.3632275976703, + -479.8693868149595, + 0.5722153816074007 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -354.8632275976703, + -477.2713106036062, + 0.5722153816074007 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -353.3632275976703, + -474.6732343922529, + 0.5722153816074007 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -351.8632275976703, + -472.07515818089956, + 0.5722153816074007 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -350.3632275976703, + -469.47708196954625, + 0.5722153816074007 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -348.8632275976703, + -466.87900575819293, + 0.5722153816074007 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -347.3632275976703, + -464.2809295468396, + 0.5722153816074007 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -345.8632275976703, + -461.6828533354863, + 0.5722153816074007 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -344.3632275976703, + -459.084777124133, + 0.5722153816074007 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -342.8632275976703, + -456.48670091277967, + 0.5722153816074007 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -341.3632275976703, + -453.88862470142635, + 0.5722153816074007 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -339.8632275976703, + -451.29054849007304, + 0.5722153816074007 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -338.3632275976703, + -448.6924722787197, + 0.5722153816074007 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -336.8632275976703, + -446.0943960673664, + 0.5722153816074007 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -335.3632275976703, + -443.4963198560131, + 0.5722153816074007 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -333.8632275976703, + -440.8982436446598, + 0.5722153816074007 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -332.3632275976703, + -438.30016743330646, + 0.5722153816074007 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -330.8632275976703, + -435.70209122195314, + 0.5722153816074007 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -329.3632275976703, + -433.1040150105998, + 0.5722153816074007 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -327.8632275976703, + -430.5059387992465, + 0.5722153816074007 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -326.3632275976703, + -427.9078625878932, + 0.5722153816074007 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -324.8632275976703, + -425.3097863765399, + 0.5722153816074007 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -323.3632275976703, + -422.71171016518656, + 0.5722153816074007 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -321.8632275976703, + -420.11363395383324, + 0.5722153816074007 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -320.3632275976703, + -417.5155577424799, + 0.5722153816074007 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -320.3632275976703, + -417.5155577424799, + 0.5722153816074007 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -320.3632275976703, + -414.5155577424799, + 0.5722153816074007 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -320.3632275976703, + -411.5155577424799, + 0.5722153816074007 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -320.3632275976703, + -408.5155577424799, + 0.5722153816074007 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -320.3632275976703, + -405.5155577424799, + 0.5722153816074007 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -319.6267106628418, + -403.69195602416994, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-27-43_1950955939/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-27-43_1950955939/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..14eb858f9fcc35130fe534842aab55d4c8821a3f --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-27-43_1950955939/pose.jsonl @@ -0,0 +1,534 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 109.2652307033526, + -405.4661877099586, + 1.1672882875348867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 110.7652307033526, + -402.8681114986053, + 1.1672882875348867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 112.2652307033526, + -400.27003528725197, + 1.1672882875348867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 113.7652307033526, + -397.67195907589866, + 1.1672882875348867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 115.2652307033526, + -395.07388286454534, + 1.1672882875348867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 116.7652307033526, + -392.475806653192, + 1.1672882875348867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 118.2652307033526, + -389.8777304418387, + 1.1672882875348867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 119.7652307033526, + -387.2796542304854, + 1.1672882875348867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 121.2652307033526, + -384.6815780191321, + 1.1672882875348867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 122.7652307033526, + -382.08350180777876, + 1.1672882875348867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 124.2652307033526, + -379.48542559642544, + 1.1672882875348867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 125.7652307033526, + -376.8873493850721, + 1.1672882875348867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 127.2652307033526, + -374.2892731737188, + 1.1672882875348867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 128.76523070335261, + -371.6911969623655, + 1.1672882875348867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965936 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 130.26523070335261, + -369.0931207510122, + 1.1672882875348867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 131.76523070335261, + -366.49504453965886, + 1.1672882875348867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 133.26523070335261, + -363.89696832830555, + 1.1672882875348867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 134.76523070335261, + -361.29889211695223, + 1.1672882875348867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 136.26523070335261, + -358.7008159055989, + 1.1672882875348867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 137.76523070335261, + -356.1027396942456, + 1.1672882875348867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 139.26523070335261, + -353.5046634828923, + 1.1672882875348867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 140.76523070335261, + -350.90658727153897, + 1.1672882875348867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 142.26523070335261, + -348.30851106018565, + 1.1672882875348867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 143.76523070335261, + -345.71043484883234, + 1.1672882875348867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 145.26523070335261, + -343.112358637479, + 1.1672882875348867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 146.76523070335261, + -340.5142824261257, + 1.1672882875348867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 148.26523070335261, + -337.9162062147724, + 1.1672882875348867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 149.76523070335261, + -335.31813000341907, + 1.1672882875348867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 151.26523070335261, + -332.72005379206576, + 1.1672882875348867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 152.76523070335261, + -330.12197758071244, + 1.1672882875348867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 154.26523070335261, + -327.5239013693591, + 1.1672882875348867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 155.76523070335261, + -324.9258251580058, + 1.1672882875348867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 157.26523070335261, + -322.3277489466525, + 1.1672882875348867 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 157.26523070335261, + -322.3277489466525, + 1.1672882875348867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 157.26523070335261, + -319.3277489466525, + 1.1672882875348867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 157.26523070335261, + -316.3277489466525, + 1.1672882875348867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 157.26523070335261, + -313.3277489466525, + 1.1672882875348867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 157.26523070335261, + -310.3277489466525, + 1.1672882875348867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 157.26523070335261, + -307.3277489466525, + 1.1672882875348867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 157.26523070335261, + -304.3277489466525, + 1.1672882875348867 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 156.50516716003418, + -301.9973617553711, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-3-21_1285228804/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-3-21_1285228804/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..052d720293cb77576b5e7697de38e5d2911408e8 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-3-21_1285228804/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 182.36438448595192, + 711.9530884962229, + -3.6843535847202915 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 183.86438448595192, + 714.5511647075762, + -3.6843535847202915 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 185.36438448595192, + 717.1492409189295, + -3.6843535847202915 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 186.86438448595192, + 719.7473171302829, + -3.6843535847202915 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 188.36438448595192, + 722.3453933416363, + -3.6843535847202915 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 189.86438448595192, + 724.9434695529897, + -3.6843535847202915 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 191.36438448595192, + 727.541545764343, + -3.6843535847202915 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 192.86438448595192, + 730.1396219756964, + -3.6843535847202915 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 194.36438448595192, + 732.7376981870498, + -3.6843535847202915 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 195.86438448595192, + 735.3357743984031, + -3.6843535847202915 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 197.36438448595192, + 737.9338506097565, + -3.6843535847202915 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 198.86438448595192, + 740.5319268211099, + -3.6843535847202915 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 198.86438448595192, + 740.5319268211099, + -3.6843535847202915 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 198.86438448595192, + 743.5319268211099, + -3.6843535847202915 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 198.86438448595192, + 746.5319268211099, + -3.6843535847202915 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 198.86438448595192, + 749.5319268211099, + -3.6843535847202915 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 198.86438448595192, + 752.5319268211099, + -3.6843535847202915 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 198.86438448595192, + 755.5319268211099, + -3.6843535847202915 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 198.86438448595192, + 758.5319268211099, + -3.6843535847202915 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 198.86438448595192, + 761.5319268211099, + -3.6843535847202915 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 198.86438448595192, + 764.5319268211099, + -3.6843535847202915 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 198.86438448595192, + 767.5319268211099, + -3.6843535847202915 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 198.86438448595192, + 770.5319268211099, + -3.6843535847202915 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 198.86438448595192, + 770.5319268211099, + -3.6843535847202915 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 200.36438448595192, + 773.1300030324633, + -3.6843535847202915 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 201.67972503662108, + 776.560556640625, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-33-58_1414647625/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-33-58_1414647625/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9a9c8503ecbb99f06016bda13f7383e93cc409d0 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-33-58_1414647625/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -263.29414614614177, + 607.5516272788798, + -1.5200014470637635 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -261.79414614614177, + 610.1497034902332, + -1.5200014470637635 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -260.29414614614177, + 612.7477797015865, + -1.5200014470637635 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -258.79414614614177, + 615.3458559129399, + -1.5200014470637635 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -257.29414614614177, + 617.9439321242933, + -1.5200014470637635 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -255.79414614614177, + 620.5420083356466, + -1.5200014470637635 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -254.29414614614177, + 623.140084547, + -1.5200014470637635 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -252.79414614614177, + 625.7381607583534, + -1.5200014470637635 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -251.29414614614177, + 628.3362369697068, + -1.5200014470637635 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -249.79414614614177, + 630.9343131810601, + -1.5200014470637635 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -248.29414614614177, + 633.5323893924135, + -1.5200014470637635 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -246.79414614614177, + 636.1304656037669, + -1.5200014470637635 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -245.29414614614177, + 638.7285418151203, + -1.5200014470637635 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -243.79414614614177, + 641.3266180264736, + -1.5200014470637635 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -242.29414614614177, + 643.924694237827, + -1.5200014470637635 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -240.79414614614177, + 646.5227704491804, + -1.5200014470637635 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -239.29414614614177, + 649.1208466605337, + -1.5200014470637635 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -237.79414614614177, + 651.7189228718871, + -1.5200014470637635 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -236.29414614614177, + 654.3169990832405, + -1.5200014470637635 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -234.79414614614177, + 656.9150752945939, + -1.5200014470637635 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -233.29414614614177, + 659.5131515059472, + -1.5200014470637635 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -233.29414614614177, + 659.5131515059472, + -1.5200014470637635 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -230.69606993478845, + 661.0131515059472, + -1.5200014470637635 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755983084 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -227.7933927154541, + 663.3823291015625, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-34-11_1635905385/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-34-11_1635905385/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1d967d1354b2102179d9b569962f39481154e80b --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-34-11_1635905385/pose.jsonl @@ -0,0 +1,404 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -697.9397595098026, + 173.15820483095646, + -0.7369825912645434 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -700.9397595098026, + 173.15820483095646, + -0.7369825912645434 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -703.9397595098026, + 173.15820483095646, + -0.7369825912645434 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -706.9397595098026, + 173.15820483095646, + -0.7369825912645434 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -709.9397595098026, + 173.15820483095646, + -0.7369825912645434 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -712.9397595098026, + 173.15820483095646, + -0.7369825912645434 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -715.9397595098026, + 173.15820483095646, + -0.7369825912645434 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -718.9397595098026, + 173.15820483095646, + -0.7369825912645434 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -721.9397595098026, + 173.15820483095646, + -0.7369825912645434 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -724.9397595098026, + 173.15820483095646, + -0.7369825912645434 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -727.9397595098026, + 173.15820483095646, + -0.7369825912645434 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -730.9397595098026, + 173.15820483095646, + -0.7369825912645434 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -733.9397595098026, + 173.15820483095646, + -0.7369825912645434 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -736.9397595098026, + 173.15820483095646, + -0.7369825912645434 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -739.9397595098026, + 173.15820483095646, + -0.7369825912645434 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -742.9397595098026, + 173.15820483095646, + -0.7369825912645434 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -745.9397595098026, + 173.15820483095646, + -0.7369825912645434 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -748.9397595098026, + 173.15820483095646, + -0.7369825912645434 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -751.9397595098026, + 173.15820483095646, + -0.7369825912645434 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -754.9397595098026, + 173.15820483095646, + -0.7369825912645434 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -757.9397595098026, + 173.15820483095646, + -0.7369825912645434 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -760.9397595098026, + 173.15820483095646, + -0.7369825912645434 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -763.9397595098026, + 173.15820483095646, + -0.7369825912645434 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -766.9397595098026, + 173.15820483095646, + -0.7369825912645434 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -769.9397595098026, + 173.15820483095646, + -0.7369825912645434 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -772.9397595098026, + 173.15820483095646, + -0.7369825912645434 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -772.9397595098026, + 173.15820483095646, + -0.7369825912645434 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -772.9397595098026, + 173.15820483095646, + -0.7369825912645434 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -774.4397595098026, + 175.75628104230978, + -0.7369825912645434 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -775.9397595098026, + 178.3543572536631, + -0.7369825912645434 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -779.8773458862305, + 179.3161050415039, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-36-4_1197352298/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-36-4_1197352298/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..596f70e030497d5645dbc752e3a5eb09c96467bb --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-36-4_1197352298/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -559.9109393735251, + 23.974193330074957, + -0.747992209286438 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -562.5090155848784, + 25.474193330074957, + -0.747992209286438 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -565.1070917962318, + 26.974193330074957, + -0.747992209286438 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -567.7051680075851, + 28.474193330074957, + -0.747992209286438 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -570.3032442189385, + 29.974193330074957, + -0.747992209286438 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -572.9013204302919, + 31.474193330074957, + -0.747992209286438 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -575.4993966416453, + 32.974193330074954, + -0.747992209286438 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991505 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -578.0974728529986, + 34.474193330074954, + -0.747992209286438 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -580.695549064352, + 35.974193330074954, + -0.747992209286438 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -583.2936252757054, + 37.474193330074954, + -0.747992209286438 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -585.8917014870588, + 38.974193330074954, + -0.747992209286438 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -588.4897776984121, + 40.474193330074954, + -0.747992209286438 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -591.0878539097655, + 41.974193330074954, + -0.747992209286438 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -593.6859301211189, + 43.474193330074954, + -0.747992209286438 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -596.2840063324722, + 44.974193330074954, + -0.747992209286438 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -598.8820825438256, + 46.474193330074954, + -0.747992209286438 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -601.480158755179, + 47.974193330074954, + -0.747992209286438 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -601.480158755179, + 47.974193330074954, + -0.747992209286438 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -604.480158755179, + 47.974193330074954, + -0.747992209286438 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -607.480158755179, + 47.974193330074954, + -0.747992209286438 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -610.480158755179, + 47.974193330074954, + -0.747992209286438 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -613.480158755179, + 47.974193330074954, + -0.747992209286438 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -616.480158755179, + 47.974193330074954, + -0.747992209286438 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -619.480158755179, + 47.974193330074954, + -0.747992209286438 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -622.480158755179, + 47.974193330074954, + -0.747992209286438 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -625.480158755179, + 47.974193330074954, + -0.747992209286438 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -628.480158755179, + 47.974193330074954, + -0.747992209286438 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -629.9300636291504, + 48.19314208984375, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-38-9_2114937732/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-38-9_2114937732/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..874105a0cf3d4d684b662327973f80a50c7c5d2b --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-38-9_2114937732/pose.jsonl @@ -0,0 +1,456 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -363.1012608431133, + -221.48245361324618, + -1.214384755777031 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -361.6012608431133, + -218.88437740189286, + -1.214384755777031 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -360.1012608431133, + -216.28630119053955, + -1.214384755777031 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -358.6012608431133, + -213.68822497918623, + -1.214384755777031 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -357.1012608431133, + -211.09014876783291, + -1.214384755777031 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -355.6012608431133, + -208.4920725564796, + -1.214384755777031 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -354.1012608431133, + -205.89399634512628, + -1.214384755777031 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -352.6012608431133, + -203.29592013377297, + -1.214384755777031 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -351.1012608431133, + -200.69784392241965, + -1.214384755777031 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -349.6012608431133, + -198.09976771106633, + -1.214384755777031 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -348.1012608431133, + -195.50169149971302, + -1.214384755777031 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -346.6012608431133, + -192.9036152883597, + -1.214384755777031 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -345.1012608431133, + -190.3055390770064, + -1.214384755777031 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -343.6012608431133, + -187.70746286565307, + -1.214384755777031 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -342.1012608431133, + -185.10938665429975, + -1.214384755777031 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -340.6012608431133, + -182.51131044294644, + -1.214384755777031 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -339.1012608431133, + -179.91323423159312, + -1.214384755777031 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -337.6012608431133, + -177.3151580202398, + -1.214384755777031 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -336.1012608431133, + -174.7170818088865, + -1.214384755777031 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -334.6012608431133, + -172.11900559753317, + -1.214384755777031 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -333.1012608431133, + -169.52092938617986, + -1.214384755777031 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -331.6012608431133, + -166.92285317482654, + -1.214384755777031 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -330.1012608431133, + -164.32477696347323, + -1.214384755777031 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -328.6012608431133, + -161.7267007521199, + -1.214384755777031 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -327.1012608431133, + -159.1286245407666, + -1.214384755777031 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -325.6012608431133, + -156.53054832941328, + -1.214384755777031 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -325.6012608431133, + -156.53054832941328, + -1.214384755777031 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -325.6012608431133, + -153.53054832941328, + -1.214384755777031 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -325.6012608431133, + -150.53054832941328, + -1.214384755777031 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -325.6012608431133, + -147.53054832941328, + -1.214384755777031 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -325.6012608431133, + -144.53054832941328, + -1.214384755777031 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -325.6012608431133, + -141.53054832941328, + -1.214384755777031 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -325.6012608431133, + -138.53054832941328, + -1.214384755777031 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -325.6012608431133, + -135.53054832941328, + -1.214384755777031 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -323.98753799438475, + -133.34803604125977, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-39-16_882160379/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-39-16_882160379/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..657460301ffbafb5bcd4258130fa3fcb0642a1d6 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-39-16_882160379/pose.jsonl @@ -0,0 +1,560 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -351.87714096066077, + -231.01515247336815, + 4.242293339970326 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -354.4752171720141, + -229.51515247336815, + 4.242293339970326 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -357.0732933833674, + -228.01515247336815, + 4.242293339970326 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -359.6713695947207, + -226.51515247336815, + 4.242293339970326 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -362.26944580607403, + -225.01515247336815, + 4.242293339970326 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -364.86752201742735, + -223.51515247336815, + 4.242293339970326 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -367.46559822878066, + -222.01515247336815, + 4.242293339970326 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -370.063674440134, + -220.51515247336815, + 4.242293339970326 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -372.6617506514873, + -219.01515247336815, + 4.242293339970326 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -375.2598268628406, + -217.51515247336815, + 4.242293339970326 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -377.8579030741939, + -216.01515247336815, + 4.242293339970326 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -380.45597928554724, + -214.51515247336815, + 4.242293339970326 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -383.05405549690056, + -213.01515247336815, + 4.242293339970326 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -385.6521317082539, + -211.51515247336815, + 4.242293339970326 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -388.2502079196072, + -210.01515247336815, + 4.242293339970326 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -390.8482841309605, + -208.51515247336815, + 4.242293339970326 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -393.4463603423138, + -207.01515247336815, + 4.242293339970326 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -396.04443655366714, + -205.51515247336815, + 4.242293339970326 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -398.64251276502046, + -204.01515247336815, + 4.242293339970326 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -401.2405889763738, + -202.51515247336815, + 4.242293339970326 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -403.8386651877271, + -201.01515247336815, + 4.242293339970326 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -406.4367413990804, + -199.51515247336815, + 4.242293339970326 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -409.0348176104337, + -198.01515247336815, + 4.242293339970326 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -411.63289382178704, + -196.51515247336815, + 4.242293339970326 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -414.23097003314035, + -195.01515247336815, + 4.242293339970326 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -416.82904624449367, + -193.51515247336815, + 4.242293339970326 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -419.427122455847, + -192.01515247336815, + 4.242293339970326 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -422.0251986672003, + -190.51515247336815, + 4.242293339970326 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -424.6232748785536, + -189.01515247336815, + 4.242293339970326 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -424.6232748785536, + -189.01515247336815, + 4.242293339970326 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -426.1232748785536, + -186.41707626201483, + 4.242293339970326 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -427.6232748785536, + -183.81900005066151, + 4.242293339970326 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -429.1232748785536, + -181.2209238393082, + 4.242293339970326 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -430.6232748785536, + -178.62284762795488, + 4.242293339970326 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -432.1232748785536, + -176.02477141660157, + 4.242293339970326 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -433.6232748785536, + -173.42669520524825, + 4.242293339970326 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -435.1232748785536, + -170.82861899389493, + 4.242293339970326 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -436.6232748785536, + -168.23054278254162, + 4.242293339970326 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -438.1232748785536, + -165.6324665711883, + 4.242293339970326 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -438.1232748785536, + -165.6324665711883, + 4.242293339970326 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -440.72135108990693, + -164.1324665711883, + 4.242293339970326 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -443.31942730126025, + -162.6324665711883, + 4.242293339970326 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -445.52278427124025, + -160.4525846862793, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-40-42_246247255/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-40-42_246247255/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5e2ff029985bfddfb4366f29769f32f307cc1bd5 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-40-42_246247255/pose.jsonl @@ -0,0 +1,404 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -734.5588562368979, + 65.12347539695712, + 3.8267939789103558 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -731.9607800255446, + 63.62347539695712, + 3.8267939789103558 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -729.3627038141913, + 62.12347539695712, + 3.8267939789103558 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -726.7646276028379, + 60.62347539695712, + 3.8267939789103558 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -724.1665513914845, + 59.12347539695712, + 3.8267939789103558 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -721.5684751801311, + 57.62347539695712, + 3.8267939789103558 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -718.9703989687778, + 56.12347539695712, + 3.8267939789103558 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -716.3723227574244, + 54.62347539695712, + 3.8267939789103558 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -713.774246546071, + 53.12347539695712, + 3.8267939789103558 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -711.1761703347177, + 51.62347539695712, + 3.8267939789103558 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -708.5780941233643, + 50.12347539695712, + 3.8267939789103558 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -705.9800179120109, + 48.62347539695712, + 3.8267939789103558 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -703.3819417006575, + 47.12347539695712, + 3.8267939789103558 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -700.7838654893042, + 45.62347539695712, + 3.8267939789103558 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -698.1857892779508, + 44.12347539695712, + 3.8267939789103558 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -695.5877130665974, + 42.62347539695712, + 3.8267939789103558 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -692.989636855244, + 41.12347539695712, + 3.8267939789103558 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -690.3915606438907, + 39.62347539695712, + 3.8267939789103558 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -687.7934844325373, + 38.12347539695712, + 3.8267939789103558 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -685.1954082211839, + 36.62347539695712, + 3.8267939789103558 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -682.5973320098306, + 35.12347539695712, + 3.8267939789103558 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -682.5973320098306, + 35.12347539695712, + 3.8267939789103558 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -681.0973320098306, + 32.5253991856038, + 3.8267939789103558 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -679.5973320098306, + 29.927322974250487, + 3.8267939789103558 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -678.0973320098306, + 27.32924676289717, + 3.8267939789103558 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -676.5973320098306, + 24.731170551543855, + 3.8267939789103558 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -675.0973320098306, + 22.13309434019054, + 3.8267939789103558 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -673.5973320098306, + 19.535018128837223, + 3.8267939789103558 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -672.0973320098306, + 16.936941917483907, + 3.8267939789103558 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -670.5973320098306, + 14.33886570613059, + 3.8267939789103558 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -667.3111592102051, + 12.556017684936524, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-41-36_964445884/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-41-36_964445884/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..204afab9bc7a71d78467dd8002ca2fc30dc175bf --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-41-36_964445884/pose.jsonl @@ -0,0 +1,404 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -624.2720621535343, + -341.9128237326578, + 1.8688610907757033 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -621.2720621535343, + -341.9128237326578, + 1.8688610907757033 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -618.2720621535343, + -341.9128237326578, + 1.8688610907757033 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -615.2720621535343, + -341.9128237326578, + 1.8688610907757033 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -612.2720621535343, + -341.9128237326578, + 1.8688610907757033 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -609.2720621535343, + -341.9128237326578, + 1.8688610907757033 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -606.2720621535343, + -341.9128237326578, + 1.8688610907757033 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -603.2720621535343, + -341.9128237326578, + 1.8688610907757033 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -600.2720621535343, + -341.9128237326578, + 1.8688610907757033 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -597.2720621535343, + -341.9128237326578, + 1.8688610907757033 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -597.2720621535343, + -341.9128237326578, + 1.8688610907757033 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -594.6739859421809, + -340.4128237326578, + 1.8688610907757033 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -592.0759097308276, + -338.9128237326578, + 1.8688610907757033 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -589.4778335194742, + -337.4128237326578, + 1.8688610907757033 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -586.8797573081208, + -335.9128237326578, + 1.8688610907757033 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -584.2816810967674, + -334.4128237326578, + 1.8688610907757033 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -581.6836048854141, + -332.9128237326578, + 1.8688610907757033 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -579.0855286740607, + -331.4128237326578, + 1.8688610907757033 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -576.4874524627073, + -329.9128237326578, + 1.8688610907757033 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -573.889376251354, + -328.4128237326578, + 1.8688610907757033 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -571.2913000400006, + -326.9128237326578, + 1.8688610907757033 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -568.6932238286472, + -325.4128237326578, + 1.8688610907757033 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -566.0951476172938, + -323.9128237326578, + 1.8688610907757033 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -563.4970714059405, + -322.4128237326578, + 1.8688610907757033 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -560.8989951945871, + -320.9128237326578, + 1.8688610907757033 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -558.3009189832337, + -319.4128237326578, + 1.8688610907757033 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -555.7028427718803, + -317.9128237326578, + 1.8688610907757033 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -553.104766560527, + -316.4128237326578, + 1.8688610907757033 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -550.5066903491736, + -314.9128237326578, + 1.8688610907757033 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -547.9086141378202, + -313.4128237326578, + 1.8688610907757033 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -545.8660174560547, + -312.8632476806641, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-41-9_1548348142/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-41-9_1548348142/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9863a5ec6ff79048183126c7ca0a85a0521fdec0 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-41-9_1548348142/pose.jsonl @@ -0,0 +1,287 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -676.7959462584171, + 184.24628363222905, + 2.557876919457441 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -678.2959462584171, + 186.84435984358237, + 2.557876919457441 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -679.7959462584171, + 189.44243605493568, + 2.557876919457441 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -681.2959462584171, + 192.040512266289, + 2.557876919457441 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -682.7959462584171, + 194.63858847764232, + 2.557876919457441 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -684.2959462584171, + 197.23666468899563, + 2.557876919457441 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -685.7959462584171, + 199.83474090034895, + 2.557876919457441 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -687.2959462584171, + 202.43281711170226, + 2.557876919457441 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -688.7959462584171, + 205.03089332305558, + 2.557876919457441 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -690.2959462584171, + 207.6289695344089, + 2.557876919457441 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -691.7959462584171, + 210.2270457457622, + 2.557876919457441 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -693.2959462584171, + 212.82512195711553, + 2.557876919457441 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -694.7959462584171, + 215.42319816846884, + 2.557876919457441 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -696.2959462584171, + 218.02127437982216, + 2.557876919457441 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -697.7959462584171, + 220.61935059117548, + 2.557876919457441 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -699.2959462584171, + 223.2174268025288, + 2.557876919457441 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -700.7959462584171, + 225.8155030138821, + 2.557876919457441 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -702.2959462584171, + 228.41357922523542, + 2.557876919457441 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -703.7959462584171, + 231.01165543658874, + 2.557876919457441 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -705.2959462584171, + 233.60973164794206, + 2.557876919457441 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -706.7959462584171, + 236.20780785929537, + 2.557876919457441 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -707.2679043579102, + 238.37122535705566, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-44-31_282828202/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-44-31_282828202/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1b0e1ca820b87a0518aa025632821e55ce5bfd2b --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-44-31_282828202/pose.jsonl @@ -0,0 +1,391 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -520.0106844748298, + -150.370681836132, + 2.4412337535224555 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -517.0106844748298, + -150.370681836132, + 2.4412337535224555 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -514.0106844748298, + -150.370681836132, + 2.4412337535224555 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -511.01068447482976, + -150.370681836132, + 2.4412337535224555 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -508.01068447482976, + -150.370681836132, + 2.4412337535224555 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -505.01068447482976, + -150.370681836132, + 2.4412337535224555 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -502.01068447482976, + -150.370681836132, + 2.4412337535224555 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -499.01068447482976, + -150.370681836132, + 2.4412337535224555 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -496.01068447482976, + -150.370681836132, + 2.4412337535224555 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -493.01068447482976, + -150.370681836132, + 2.4412337535224555 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -490.01068447482976, + -150.370681836132, + 2.4412337535224555 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -487.01068447482976, + -150.370681836132, + 2.4412337535224555 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -484.01068447482976, + -150.370681836132, + 2.4412337535224555 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -481.01068447482976, + -150.370681836132, + 2.4412337535224555 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -478.01068447482976, + -150.370681836132, + 2.4412337535224555 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -475.01068447482976, + -150.370681836132, + 2.4412337535224555 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -472.01068447482976, + -150.370681836132, + 2.4412337535224555 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -469.01068447482976, + -150.370681836132, + 2.4412337535224555 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -466.01068447482976, + -150.370681836132, + 2.4412337535224555 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -463.01068447482976, + -150.370681836132, + 2.4412337535224555 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -460.01068447482976, + -150.370681836132, + 2.4412337535224555 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -457.01068447482976, + -150.370681836132, + 2.4412337535224555 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -454.01068447482976, + -150.370681836132, + 2.4412337535224555 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -454.01068447482976, + -150.370681836132, + 2.4412337535224555 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -454.01068447482976, + -150.370681836132, + 2.4412337535224555 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -452.51068447482976, + -152.96875804748532, + 2.4412337535224555 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -451.01068447482976, + -155.56683425883864, + 2.4412337535224555 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -449.51068447482976, + -158.16491047019196, + 2.4412337535224555 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -448.01068447482976, + -160.76298668154527, + 2.4412337535224555 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -445.52278427124025, + -160.4525846862793, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-44-4_1411154259/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-44-4_1411154259/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f807e91bd23abf6638525123980f27ad2da284ff --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-44-4_1411154259/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 54.28458526065371, + 700.292493804981, + 0.048801908810136574 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 51.28458526065371, + 700.292493804981, + 0.048801908810136574 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 48.28458526065371, + 700.292493804981, + 0.048801908810136574 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 45.28458526065371, + 700.292493804981, + 0.048801908810136574 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 42.28458526065371, + 700.292493804981, + 0.048801908810136574 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 39.28458526065371, + 700.292493804981, + 0.048801908810136574 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 36.28458526065371, + 700.292493804981, + 0.048801908810136574 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 33.28458526065371, + 700.292493804981, + 0.048801908810136574 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 30.284585260653706, + 700.292493804981, + 0.048801908810136574 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 27.284585260653706, + 700.292493804981, + 0.048801908810136574 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 24.284585260653706, + 700.292493804981, + 0.048801908810136574 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 21.284585260653706, + 700.292493804981, + 0.048801908810136574 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 18.284585260653706, + 700.292493804981, + 0.048801908810136574 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 15.284585260653706, + 700.292493804981, + 0.048801908810136574 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 12.284585260653706, + 700.292493804981, + 0.048801908810136574 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 9.284585260653706, + 700.292493804981, + 0.048801908810136574 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 6.2845852606537065, + 700.292493804981, + 0.048801908810136574 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 3.2845852606537065, + 700.292493804981, + 0.048801908810136574 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 3.2845852606537065, + 700.292493804981, + 0.048801908810136574 + ], + "type": "turn left", + "value": 30, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 3.2845852606537065, + 700.292493804981, + 0.048801908810136574 + ], + "type": "go straight", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1.7845852606537072, + 697.6944175936276, + 0.048801908810136574 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 0.2845852606537078, + 695.0963413822742, + 0.048801908810136574 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1.2154147393462915, + 692.4982651709208, + 0.048801908810136574 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2.715414739346291, + 689.9001889595675, + 0.048801908810136574 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -5.930885200500488, + 691.5702409362793, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-50-48_1781999754/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-50-48_1781999754/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f7162c39ad13b0e64436bc2d146c531553cf415b --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-50-48_1781999754/pose.jsonl @@ -0,0 +1,352 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 428.4882351634506, + -55.917068565884435, + -1.1049263701698449 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 425.8901589520973, + -57.417068565884435, + -1.1049263701698449 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 423.292082740744, + -58.917068565884435, + -1.1049263701698449 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 420.69400652939066, + -60.417068565884435, + -1.1049263701698449 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 418.09593031803735, + -61.917068565884435, + -1.1049263701698449 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 415.49785410668403, + -63.417068565884435, + -1.1049263701698449 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 412.8997778953307, + -64.91706856588443, + -1.1049263701698449 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 410.3017016839774, + -66.41706856588443, + -1.1049263701698449 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 407.7036254726241, + -67.91706856588443, + -1.1049263701698449 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 405.10554926127077, + -69.41706856588443, + -1.1049263701698449 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 402.50747304991745, + -70.91706856588443, + -1.1049263701698449 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 399.90939683856413, + -72.41706856588443, + -1.1049263701698449 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 397.3113206272108, + -73.91706856588443, + -1.1049263701698449 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 394.7132444158575, + -75.41706856588443, + -1.1049263701698449 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 392.1151682045042, + -76.91706856588443, + -1.1049263701698449 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 389.51709199315087, + -78.41706856588443, + -1.1049263701698449 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 386.91901578179755, + -79.91706856588443, + -1.1049263701698449 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 384.32093957044424, + -81.41706856588443, + -1.1049263701698449 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 384.32093957044424, + -81.41706856588443, + -1.1049263701698449 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 381.32093957044424, + -81.41706856588443, + -1.1049263701698449 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 378.32093957044424, + -81.41706856588443, + -1.1049263701698449 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 375.32093957044424, + -81.41706856588443, + -1.1049263701698449 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 372.32093957044424, + -81.41706856588443, + -1.1049263701698449 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 369.32093957044424, + -81.41706856588443, + -1.1049263701698449 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 366.32093957044424, + -81.41706856588443, + -1.1049263701698449 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 363.32093957044424, + -81.41706856588443, + -1.1049263701698449 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 361.61789932250974, + -80.46325607299805, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-56-0_1795519125/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-56-0_1795519125/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..04149a0a75ffc2850e1e204b9cf4bd7111a4278b --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-56-0_1795519125/pose.jsonl @@ -0,0 +1,300 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -254.73917107640276, + 50.52524388488209, + -2.6184913582932583 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -254.73917107640276, + 47.52524388488209, + -2.6184913582932583 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -254.73917107640276, + 44.52524388488209, + -2.6184913582932583 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -254.73917107640276, + 41.52524388488209, + -2.6184913582932583 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -254.73917107640276, + 38.52524388488209, + -2.6184913582932583 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -254.73917107640276, + 35.52524388488209, + -2.6184913582932583 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -254.73917107640276, + 32.52524388488209, + -2.6184913582932583 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -254.73917107640276, + 29.525243884882087, + -2.6184913582932583 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -254.73917107640276, + 26.525243884882087, + -2.6184913582932583 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -254.73917107640276, + 23.525243884882087, + -2.6184913582932583 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -254.73917107640276, + 20.525243884882087, + -2.6184913582932583 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -254.73917107640276, + 17.525243884882087, + -2.6184913582932583 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -254.73917107640276, + 14.525243884882087, + -2.6184913582932583 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -254.73917107640276, + 14.525243884882087, + -2.6184913582932583 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -253.23917107640276, + 11.927167673528771, + -2.6184913582932583 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -251.73917107640276, + 9.329091462175455, + -2.6184913582932583 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -250.23917107640276, + 6.731015250822139, + -2.6184913582932583 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -248.73917107640276, + 4.132939039468823, + -2.6184913582932583 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -247.23917107640276, + 1.5348628281155072, + -2.6184913582932583 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -245.73917107640276, + -1.0632133832378088, + -2.6184913582932583 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -244.23917107640276, + -3.661289594591125, + -2.6184913582932583 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -242.73917107640276, + -6.259365805944441, + -2.6184913582932583 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -242.29689208984374, + -10.230338129997254, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-57-59_1545032460/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-57-59_1545032460/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3debc02fd2d1043bf1a648385ff750eb4e90bf55 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-57-59_1545032460/pose.jsonl @@ -0,0 +1,404 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -362.23358182623406, + 402.1289944848236, + -3.8437149715198817 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -363.73358182623406, + 404.7270706961769, + -3.8437149715198817 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -365.23358182623406, + 407.3251469075302, + -3.8437149715198817 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -366.73358182623406, + 409.9232231188835, + -3.8437149715198817 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -368.23358182623406, + 412.52129933023684, + -3.8437149715198817 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -369.73358182623406, + 415.11937554159016, + -3.8437149715198817 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -371.23358182623406, + 417.7174517529435, + -3.8437149715198817 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -372.73358182623406, + 420.3155279642968, + -3.8437149715198817 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -374.23358182623406, + 422.9136041756501, + -3.8437149715198817 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -375.73358182623406, + 425.5116803870034, + -3.8437149715198817 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -377.23358182623406, + 428.10975659835674, + -3.8437149715198817 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -378.73358182623406, + 430.70783280971006, + -3.8437149715198817 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -380.23358182623406, + 433.30590902106337, + -3.8437149715198817 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -381.73358182623406, + 435.9039852324167, + -3.8437149715198817 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -383.23358182623406, + 438.50206144377, + -3.8437149715198817 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -384.73358182623406, + 441.1001376551233, + -3.8437149715198817 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -386.23358182623406, + 443.69821386647664, + -3.8437149715198817 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -387.73358182623406, + 446.29629007782995, + -3.8437149715198817 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -389.23358182623406, + 448.89436628918327, + -3.8437149715198817 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -390.73358182623406, + 451.4924425005366, + -3.8437149715198817 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -392.23358182623406, + 454.0905187118899, + -3.8437149715198817 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -393.73358182623406, + 456.6885949232432, + -3.8437149715198817 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -395.23358182623406, + 459.28667113459653, + -3.8437149715198817 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -396.73358182623406, + 461.88474734594985, + -3.8437149715198817 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -398.23358182623406, + 464.48282355730316, + -3.8437149715198817 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -398.23358182623406, + 464.48282355730316, + -3.8437149715198817 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -398.23358182623406, + 467.48282355730316, + -3.8437149715198817 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -398.23358182623406, + 470.48282355730316, + -3.8437149715198817 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -398.23358182623406, + 473.48282355730316, + -3.8437149715198817 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -398.23358182623406, + 476.48282355730316, + -3.8437149715198817 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -399.08082916259764, + 479.4950012207031, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-8-42_705178736/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-8-42_705178736/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6f496df704da568b4b5de8ebcfc4b6e768bbe7f6 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-8-42_705178736/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -674.8152472977823, + 292.3753708766781, + 3.150363996326366 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -676.3152472977823, + 289.7772946653248, + 3.150363996326366 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -677.8152472977823, + 287.1792184539715, + 3.150363996326366 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -679.3152472977823, + 284.58114224261817, + 3.150363996326366 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -680.8152472977823, + 281.98306603126485, + 3.150363996326366 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -682.3152472977823, + 279.38498981991154, + 3.150363996326366 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -683.8152472977823, + 276.7869136085582, + 3.150363996326366 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -685.3152472977823, + 274.1888373972049, + 3.150363996326366 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -686.8152472977823, + 271.5907611858516, + 3.150363996326366 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -688.3152472977823, + 268.9926849744983, + 3.150363996326366 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -689.8152472977823, + 266.39460876314496, + 3.150363996326366 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -691.3152472977823, + 263.79653255179164, + 3.150363996326366 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -692.8152472977823, + 261.1984563404383, + 3.150363996326366 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -694.3152472977823, + 258.600380129085, + 3.150363996326366 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -695.8152472977823, + 256.0023039177317, + 3.150363996326366 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -697.3152472977823, + 253.40422770637838, + 3.150363996326366 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -698.8152472977823, + 250.80615149502506, + 3.150363996326366 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -700.3152472977823, + 248.20807528367175, + 3.150363996326366 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -700.3152472977823, + 248.20807528367175, + 3.150363996326366 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -700.3152472977823, + 245.20807528367175, + 3.150363996326366 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -700.3152472977823, + 242.20807528367175, + 3.150363996326366 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -700.3152472977823, + 239.20807528367175, + 3.150363996326366 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -700.3152472977823, + 236.20807528367175, + 3.150363996326366 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -701.839137878418, + 232.52609245300292, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-0-22_1192707556/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-0-22_1192707556/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..eadc3d4ecc2ff4fa820c1cdf332199b423dcb342 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-0-22_1192707556/pose.jsonl @@ -0,0 +1,521 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -629.2930446027949, + 316.59049178680556, + -0.5827139855987458 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -630.7930446027949, + 313.99241557545224, + -0.5827139855987458 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -632.2930446027949, + 311.3943393640989, + -0.5827139855987458 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -633.7930446027949, + 308.7962631527456, + -0.5827139855987458 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -635.2930446027949, + 306.1981869413923, + -0.5827139855987458 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -636.7930446027949, + 303.600110730039, + -0.5827139855987458 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -638.2930446027949, + 301.00203451868566, + -0.5827139855987458 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -639.7930446027949, + 298.40395830733235, + -0.5827139855987458 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -641.2930446027949, + 295.80588209597903, + -0.5827139855987458 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -642.7930446027949, + 293.2078058846257, + -0.5827139855987458 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -644.2930446027949, + 290.6097296732724, + -0.5827139855987458 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -645.7930446027949, + 288.0116534619191, + -0.5827139855987458 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -647.2930446027949, + 285.41357725056577, + -0.5827139855987458 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -648.7930446027949, + 282.81550103921245, + -0.5827139855987458 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -650.2930446027949, + 280.21742482785913, + -0.5827139855987458 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -651.7930446027949, + 277.6193486165058, + -0.5827139855987458 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -653.2930446027949, + 275.0212724051525, + -0.5827139855987458 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -654.7930446027949, + 272.4231961937992, + -0.5827139855987458 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -656.2930446027949, + 269.82511998244587, + -0.5827139855987458 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -657.7930446027949, + 267.22704377109255, + -0.5827139855987458 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -659.2930446027949, + 264.62896755973924, + -0.5827139855987458 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -660.7930446027949, + 262.0308913483859, + -0.5827139855987458 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -662.2930446027949, + 259.4328151370326, + -0.5827139855987458 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -663.7930446027949, + 256.8347389256793, + -0.5827139855987458 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -665.2930446027949, + 254.23666271432597, + -0.5827139855987458 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -665.2930446027949, + 254.23666271432597, + -0.5827139855987458 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -667.8911208141483, + 252.73666271432597, + -0.5827139855987458 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -670.4891970255017, + 251.23666271432597, + -0.5827139855987458 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -673.087273236855, + 249.73666271432597, + -0.5827139855987458 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -675.6853494482084, + 248.23666271432597, + -0.5827139855987458 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -678.2834256595618, + 246.73666271432597, + -0.5827139855987458 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -680.8815018709151, + 245.23666271432597, + -0.5827139855987458 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -683.4795780822685, + 243.73666271432597, + -0.5827139855987458 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -686.0776542936219, + 242.23666271432597, + -0.5827139855987458 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -688.6757305049753, + 240.73666271432597, + -0.5827139855987458 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -691.2738067163286, + 239.23666271432597, + -0.5827139855987458 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -693.871882927682, + 237.73666271432597, + -0.5827139855987458 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -696.4699591390354, + 236.23666271432597, + -0.5827139855987458 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -699.0680353503888, + 234.73666271432597, + -0.5827139855987458 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -701.839137878418, + 232.52609245300292, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-0-8_332266748/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-0-8_332266748/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1b44511a5793f2e3e75e0a30533e5cc7c169052a --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-0-8_332266748/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -751.8775548324138, + -43.83932593484004, + -3.1429278514870913 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -750.3775548324138, + -41.241249723486725, + -3.1429278514870913 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -748.8775548324138, + -38.64317351213341, + -3.1429278514870913 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -747.3775548324138, + -36.04509730078009, + -3.1429278514870913 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -745.8775548324138, + -33.44702108942678, + -3.1429278514870913 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -744.3775548324138, + -30.84894487807346, + -3.1429278514870913 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -742.8775548324138, + -28.250868666720145, + -3.1429278514870913 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -741.3775548324138, + -25.65279245536683, + -3.1429278514870913 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -739.8775548324138, + -23.054716244013512, + -3.1429278514870913 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -738.3775548324138, + -20.456640032660196, + -3.1429278514870913 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -736.8775548324138, + -17.85856382130688, + -3.1429278514870913 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -735.3775548324138, + -15.260487609953564, + -3.1429278514870913 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -733.8775548324138, + -12.662411398600248, + -3.1429278514870913 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -733.8775548324138, + -12.662411398600248, + -3.1429278514870913 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -733.8775548324138, + -9.662411398600248, + -3.1429278514870913 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -733.8775548324138, + -6.6624113986002484, + -3.1429278514870913 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -733.8775548324138, + -3.6624113986002484, + -3.1429278514870913 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -733.8775548324138, + -0.6624113986002484, + -3.1429278514870913 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -733.8775548324138, + 2.3375886013997516, + -3.1429278514870913 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -733.8775548324138, + 5.3375886013997516, + -3.1429278514870913 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -733.8775548324138, + 8.337588601399752, + -3.1429278514870913 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -733.8775548324138, + 11.337588601399752, + -3.1429278514870913 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -733.8775548324138, + 14.337588601399752, + -3.1429278514870913 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -733.8775548324138, + 17.33758860139975, + -3.1429278514870913 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -733.8775548324138, + 20.33758860139975, + -3.1429278514870913 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -731.5441055297852, + 23.07341537475586, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-12-1_672655340/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-12-1_672655340/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..adccd8cade70d7b08afb4a4770f209da5245f21e --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-12-1_672655340/pose.jsonl @@ -0,0 +1,482 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -379.57983824228234, + -465.80222925610394, + 4.6155915722190315 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -376.57983824228234, + -465.80222925610394, + 4.6155915722190315 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -373.57983824228234, + -465.80222925610394, + 4.6155915722190315 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -370.57983824228234, + -465.80222925610394, + 4.6155915722190315 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -367.57983824228234, + -465.80222925610394, + 4.6155915722190315 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -364.57983824228234, + -465.80222925610394, + 4.6155915722190315 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -361.57983824228234, + -465.80222925610394, + 4.6155915722190315 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -358.57983824228234, + -465.80222925610394, + 4.6155915722190315 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -355.57983824228234, + -465.80222925610394, + 4.6155915722190315 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -352.57983824228234, + -465.80222925610394, + 4.6155915722190315 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -349.57983824228234, + -465.80222925610394, + 4.6155915722190315 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -346.57983824228234, + -465.80222925610394, + 4.6155915722190315 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -343.57983824228234, + -465.80222925610394, + 4.6155915722190315 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -340.57983824228234, + -465.80222925610394, + 4.6155915722190315 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -337.57983824228234, + -465.80222925610394, + 4.6155915722190315 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -334.57983824228234, + -465.80222925610394, + 4.6155915722190315 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -331.57983824228234, + -465.80222925610394, + 4.6155915722190315 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -328.57983824228234, + -465.80222925610394, + 4.6155915722190315 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -325.57983824228234, + -465.80222925610394, + 4.6155915722190315 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -322.57983824228234, + -465.80222925610394, + 4.6155915722190315 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -319.57983824228234, + -465.80222925610394, + 4.6155915722190315 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -316.57983824228234, + -465.80222925610394, + 4.6155915722190315 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -313.57983824228234, + -465.80222925610394, + 4.6155915722190315 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -310.57983824228234, + -465.80222925610394, + 4.6155915722190315 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -307.57983824228234, + -465.80222925610394, + 4.6155915722190315 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -304.57983824228234, + -465.80222925610394, + 4.6155915722190315 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -301.57983824228234, + -465.80222925610394, + 4.6155915722190315 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -298.57983824228234, + -465.80222925610394, + 4.6155915722190315 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -295.57983824228234, + -465.80222925610394, + 4.6155915722190315 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -292.57983824228234, + -465.80222925610394, + 4.6155915722190315 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -289.57983824228234, + -465.80222925610394, + 4.6155915722190315 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -286.57983824228234, + -465.80222925610394, + 4.6155915722190315 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -283.57983824228234, + -465.80222925610394, + 4.6155915722190315 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -280.57983824228234, + -465.80222925610394, + 4.6155915722190315 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -277.57983824228234, + -465.80222925610394, + 4.6155915722190315 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -274.57983824228234, + -465.80222925610394, + 4.6155915722190315 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -270.6246540832519, + -464.87673126220704, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-14-1_1941690360/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-14-1_1941690360/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e7a207440d00baaa35a191c87433825289bd2c40 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-14-1_1941690360/pose.jsonl @@ -0,0 +1,456 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -632.3349308998137, + -254.23743568775222, + -4.4893727726380135 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -633.8349308998137, + -251.6393594763989, + -4.4893727726380135 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -635.3349308998137, + -249.0412832650456, + -4.4893727726380135 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -636.8349308998137, + -246.44320705369228, + -4.4893727726380135 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -638.3349308998137, + -243.84513084233896, + -4.4893727726380135 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -639.8349308998137, + -241.24705463098564, + -4.4893727726380135 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -641.3349308998137, + -238.64897841963233, + -4.4893727726380135 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -642.8349308998137, + -236.050902208279, + -4.4893727726380135 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -644.3349308998137, + -233.4528259969257, + -4.4893727726380135 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -645.8349308998137, + -230.85474978557238, + -4.4893727726380135 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -647.3349308998137, + -228.25667357421906, + -4.4893727726380135 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -648.8349308998137, + -225.65859736286575, + -4.4893727726380135 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -650.3349308998137, + -223.06052115151243, + -4.4893727726380135 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -651.8349308998137, + -220.46244494015912, + -4.4893727726380135 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -653.3349308998137, + -217.8643687288058, + -4.4893727726380135 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -654.8349308998137, + -215.26629251745248, + -4.4893727726380135 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -656.3349308998137, + -212.66821630609917, + -4.4893727726380135 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -657.8349308998137, + -210.07014009474585, + -4.4893727726380135 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -659.3349308998137, + -207.47206388339254, + -4.4893727726380135 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -659.3349308998137, + -207.47206388339254, + -4.4893727726380135 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -659.3349308998137, + -204.47206388339254, + -4.4893727726380135 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -659.3349308998137, + -201.47206388339254, + -4.4893727726380135 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -659.3349308998137, + -198.47206388339254, + -4.4893727726380135 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -659.3349308998137, + -195.47206388339254, + -4.4893727726380135 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -659.3349308998137, + -192.47206388339254, + -4.4893727726380135 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -659.3349308998137, + -189.47206388339254, + -4.4893727726380135 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -659.3349308998137, + -186.47206388339254, + -4.4893727726380135 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -659.3349308998137, + -183.47206388339254, + -4.4893727726380135 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -659.3349308998137, + -180.47206388339254, + -4.4893727726380135 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -659.3349308998137, + -177.47206388339254, + -4.4893727726380135 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -659.3349308998137, + -174.47206388339254, + -4.4893727726380135 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -659.3349308998137, + -171.47206388339254, + -4.4893727726380135 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -659.3349308998137, + -168.47206388339254, + -4.4893727726380135 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -659.3349308998137, + -165.47206388339254, + -4.4893727726380135 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -661.3270858764648, + -162.2898444366455, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-15-28_1586903190/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-15-28_1586903190/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ca373195dd8e08bef16a66a59cd2105a85517412 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-15-28_1586903190/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -810.881339249168, + 101.6505362146935, + 0.357215560123211 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -809.381339249168, + 99.05246000334019, + 0.357215560123211 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -807.881339249168, + 96.45438379198687, + 0.357215560123211 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -806.381339249168, + 93.85630758063355, + 0.357215560123211 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -804.881339249168, + 91.25823136928024, + 0.357215560123211 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -803.381339249168, + 88.66015515792692, + 0.357215560123211 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -801.881339249168, + 86.0620789465736, + 0.357215560123211 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -800.381339249168, + 83.46400273522029, + 0.357215560123211 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -798.881339249168, + 80.86592652386697, + 0.357215560123211 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -797.381339249168, + 78.26785031251366, + 0.357215560123211 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -795.881339249168, + 75.66977410116034, + 0.357215560123211 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -794.381339249168, + 73.07169788980703, + 0.357215560123211 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -792.881339249168, + 70.47362167845371, + 0.357215560123211 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -791.381339249168, + 67.8755454671004, + 0.357215560123211 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -789.881339249168, + 65.27746925574708, + 0.357215560123211 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -788.381339249168, + 62.67939304439376, + 0.357215560123211 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -786.881339249168, + 60.08131683304045, + 0.357215560123211 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -786.881339249168, + 60.08131683304045, + 0.357215560123211 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -784.2832630378148, + 58.58131683304045, + 0.357215560123211 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -781.6851868264614, + 57.08131683304045, + 0.357215560123211 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -779.087110615108, + 55.58131683304045, + 0.357215560123211 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -776.4890344037547, + 54.08131683304045, + 0.357215560123211 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -773.8909581924013, + 52.58131683304045, + 0.357215560123211 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -771.2928819810479, + 51.08131683304045, + 0.357215560123211 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -768.8232287597656, + 49.617736358642574, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-19-21_696947386/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-19-21_696947386/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..81366b6562775c5055454dbf1627295731f3c918 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-19-21_696947386/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -747.2823030512652, + 277.40719129081555, + -2.346428982457778 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -744.2823030512652, + 277.40719129081555, + -2.346428982457778 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -741.2823030512652, + 277.40719129081555, + -2.346428982457778 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -738.2823030512652, + 277.40719129081555, + -2.346428982457778 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -735.2823030512652, + 277.40719129081555, + -2.346428982457778 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -732.2823030512652, + 277.40719129081555, + -2.346428982457778 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -732.2823030512652, + 277.40719129081555, + -2.346428982457778 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -732.2823030512652, + 277.40719129081555, + -2.346428982457778 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -730.7823030512652, + 274.80911507946223, + -2.346428982457778 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -729.2823030512652, + 272.2110388681089, + -2.346428982457778 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -727.7823030512652, + 269.6129626567556, + -2.346428982457778 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -726.2823030512652, + 267.0148864454023, + -2.346428982457778 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -724.7823030512652, + 264.41681023404897, + -2.346428982457778 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -723.2823030512652, + 261.81873402269565, + -2.346428982457778 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -721.7823030512652, + 259.22065781134233, + -2.346428982457778 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -720.2823030512652, + 256.622581599989, + -2.346428982457778 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -718.7823030512652, + 254.0245053886357, + -2.346428982457778 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -717.2823030512652, + 251.4264291772824, + -2.346428982457778 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -715.7823030512652, + 248.82835296592907, + -2.346428982457778 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -714.2823030512652, + 246.23027675457575, + -2.346428982457778 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -712.7823030512652, + 243.63220054322244, + -2.346428982457778 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -712.7823030512652, + 243.63220054322244, + -2.346428982457778 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -710.1842268399118, + 242.13220054322244, + -2.346428982457778 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -707.5861506285585, + 240.63220054322244, + -2.346428982457778 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -704.9880744172051, + 239.13220054322244, + -2.346428982457778 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -701.6309753417969, + 238.16310417175293, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-21-2_1707056552/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-21-2_1707056552/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b1cbda1a0c43956f907553d2c3a27940aadab19f --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-21-2_1707056552/pose.jsonl @@ -0,0 +1,547 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 329.4325417993858, + 528.8127160241532, + 2.1133300939288704 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 332.4325417993858, + 528.8127160241532, + 2.1133300939288704 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 335.4325417993858, + 528.8127160241532, + 2.1133300939288704 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 338.4325417993858, + 528.8127160241532, + 2.1133300939288704 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 341.4325417993858, + 528.8127160241532, + 2.1133300939288704 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 344.4325417993858, + 528.8127160241532, + 2.1133300939288704 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 347.4325417993858, + 528.8127160241532, + 2.1133300939288704 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 350.4325417993858, + 528.8127160241532, + 2.1133300939288704 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 353.4325417993858, + 528.8127160241532, + 2.1133300939288704 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 356.4325417993858, + 528.8127160241532, + 2.1133300939288704 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 359.4325417993858, + 528.8127160241532, + 2.1133300939288704 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 362.4325417993858, + 528.8127160241532, + 2.1133300939288704 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 365.4325417993858, + 528.8127160241532, + 2.1133300939288704 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 368.4325417993858, + 528.8127160241532, + 2.1133300939288704 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 371.4325417993858, + 528.8127160241532, + 2.1133300939288704 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 374.4325417993858, + 528.8127160241532, + 2.1133300939288704 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 377.4325417993858, + 528.8127160241532, + 2.1133300939288704 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 377.4325417993858, + 528.8127160241532, + 2.1133300939288704 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 380.0306180107391, + 530.3127160241532, + 2.1133300939288704 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 382.6286942220924, + 531.8127160241532, + 2.1133300939288704 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 385.2267704334457, + 533.3127160241532, + 2.1133300939288704 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 387.82484664479904, + 534.8127160241532, + 2.1133300939288704 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 390.42292285615235, + 536.3127160241532, + 2.1133300939288704 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 393.02099906750567, + 537.8127160241532, + 2.1133300939288704 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 395.619075278859, + 539.3127160241532, + 2.1133300939288704 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 398.2171514902123, + 540.8127160241532, + 2.1133300939288704 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 400.8152277015656, + 542.3127160241532, + 2.1133300939288704 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 403.41330391291893, + 543.8127160241532, + 2.1133300939288704 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 406.01138012427225, + 545.3127160241532, + 2.1133300939288704 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 408.60945633562557, + 546.8127160241532, + 2.1133300939288704 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 411.2075325469789, + 548.3127160241532, + 2.1133300939288704 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 413.8056087583322, + 549.8127160241532, + 2.1133300939288704 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 416.4036849696855, + 551.3127160241532, + 2.1133300939288704 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 419.00176118103883, + 552.8127160241532, + 2.1133300939288704 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 421.59983739239215, + 554.3127160241532, + 2.1133300939288704 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 424.19791360374546, + 555.8127160241532, + 2.1133300939288704 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 426.7959898150988, + 557.3127160241532, + 2.1133300939288704 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 429.3940660264521, + 558.8127160241532, + 2.1133300939288704 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 431.9921422378054, + 560.3127160241532, + 2.1133300939288704 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 434.5902184491587, + 561.8127160241532, + 2.1133300939288704 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 437.18829466051204, + 563.3127160241532, + 2.1133300939288704 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 439.84950744628907, + 563.3985629272461, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-22-47_1857756970/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-22-47_1857756970/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9403e09a4bb52170d2f48a9b5b47c3af60b5b5a3 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-22-47_1857756970/pose.jsonl @@ -0,0 +1,469 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 223.87111689256363, + 699.1774936928367, + 3.953866600021529 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 226.87111689256363, + 699.1774936928367, + 3.953866600021529 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 229.87111689256363, + 699.1774936928367, + 3.953866600021529 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 232.87111689256363, + 699.1774936928367, + 3.953866600021529 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 235.87111689256363, + 699.1774936928367, + 3.953866600021529 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 238.87111689256363, + 699.1774936928367, + 3.953866600021529 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 241.87111689256363, + 699.1774936928367, + 3.953866600021529 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 244.87111689256363, + 699.1774936928367, + 3.953866600021529 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 247.87111689256363, + 699.1774936928367, + 3.953866600021529 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 250.87111689256363, + 699.1774936928367, + 3.953866600021529 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 253.87111689256363, + 699.1774936928367, + 3.953866600021529 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 253.87111689256363, + 699.1774936928367, + 3.953866600021529 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 253.87111689256363, + 699.1774936928367, + 3.953866600021529 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 255.37111689256363, + 696.5794174814835, + 3.953866600021529 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 256.87111689256363, + 693.9813412701301, + 3.953866600021529 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 258.37111689256363, + 691.3832650587767, + 3.953866600021529 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 258.37111689256363, + 691.3832650587767, + 3.953866600021529 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 260.96919310391695, + 689.8832650587767, + 3.953866600021529 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 263.56726931527027, + 688.3832650587767, + 3.953866600021529 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 266.1653455266236, + 686.8832650587767, + 3.953866600021529 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 268.7634217379769, + 685.3832650587767, + 3.953866600021529 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 271.3614979493302, + 683.8832650587767, + 3.953866600021529 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 273.95957416068353, + 682.3832650587767, + 3.953866600021529 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 276.55765037203685, + 680.8832650587767, + 3.953866600021529 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 279.15572658339016, + 679.3832650587767, + 3.953866600021529 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 281.7538027947435, + 677.8832650587767, + 3.953866600021529 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 284.3518790060968, + 676.3832650587767, + 3.953866600021529 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 286.9499552174501, + 674.8832650587767, + 3.953866600021529 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 289.5480314288034, + 673.3832650587767, + 3.953866600021529 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 292.14610764015674, + 671.8832650587767, + 3.953866600021529 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 294.74418385151006, + 670.3832650587767, + 3.953866600021529 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 294.74418385151006, + 670.3832650587767, + 3.953866600021529 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 297.74418385151006, + 670.3832650587767, + 3.953866600021529 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 300.74418385151006, + 670.3832650587767, + 3.953866600021529 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 303.74418385151006, + 670.3832650587767, + 3.953866600021529 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 307.503537902832, + 668.8986363220215, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-26-34_241909610/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-26-34_241909610/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..11b351c2818c2082915cca0a283f4515a1196f44 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-26-34_241909610/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -787.8735004121294, + 232.82965793373887, + -0.5550282691968871 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -784.8735004121294, + 232.82965793373887, + -0.5550282691968871 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -781.8735004121294, + 232.82965793373887, + -0.5550282691968871 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -778.8735004121294, + 232.82965793373887, + -0.5550282691968871 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -775.8735004121294, + 232.82965793373887, + -0.5550282691968871 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -772.8735004121294, + 232.82965793373887, + -0.5550282691968871 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -769.8735004121294, + 232.82965793373887, + -0.5550282691968871 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -766.8735004121294, + 232.82965793373887, + -0.5550282691968871 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -763.8735004121294, + 232.82965793373887, + -0.5550282691968871 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -760.8735004121294, + 232.82965793373887, + -0.5550282691968871 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -757.8735004121294, + 232.82965793373887, + -0.5550282691968871 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -754.8735004121294, + 232.82965793373887, + -0.5550282691968871 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -751.8735004121294, + 232.82965793373887, + -0.5550282691968871 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -748.8735004121294, + 232.82965793373887, + -0.5550282691968871 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -745.8735004121294, + 232.82965793373887, + -0.5550282691968871 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -742.8735004121294, + 232.82965793373887, + -0.5550282691968871 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -739.8735004121294, + 232.82965793373887, + -0.5550282691968871 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -736.8735004121294, + 232.82965793373887, + -0.5550282691968871 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -733.8735004121294, + 232.82965793373887, + -0.5550282691968871 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -733.8735004121294, + 232.82965793373887, + -0.5550282691968871 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -731.2754242007761, + 231.32965793373887, + -0.5550282691968871 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -728.6773479894227, + 229.82965793373887, + -0.5550282691968871 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -726.0792717780694, + 228.32965793373887, + -0.5550282691968871 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -723.481195566716, + 226.82965793373887, + -0.5550282691968871 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -720.8831193553626, + 225.32965793373887, + -0.5550282691968871 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -719.2420056152343, + 225.9435828399658, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-35-42_716334471/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-35-42_716334471/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7397634e7d8eedac5bb916f5bfb2c399619b92d9 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-35-42_716334471/pose.jsonl @@ -0,0 +1,391 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 266.2719667864701, + 21.337734954971936, + -1.618708513060103 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 269.2719667864701, + 21.337734954971936, + -1.618708513060103 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 272.2719667864701, + 21.337734954971936, + -1.618708513060103 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 275.2719667864701, + 21.337734954971936, + -1.618708513060103 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 278.2719667864701, + 21.337734954971936, + -1.618708513060103 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 281.2719667864701, + 21.337734954971936, + -1.618708513060103 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 284.2719667864701, + 21.337734954971936, + -1.618708513060103 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 287.2719667864701, + 21.337734954971936, + -1.618708513060103 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 290.2719667864701, + 21.337734954971936, + -1.618708513060103 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 293.2719667864701, + 21.337734954971936, + -1.618708513060103 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 296.2719667864701, + 21.337734954971936, + -1.618708513060103 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 299.2719667864701, + 21.337734954971936, + -1.618708513060103 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 302.2719667864701, + 21.337734954971936, + -1.618708513060103 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 305.2719667864701, + 21.337734954971936, + -1.618708513060103 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 308.2719667864701, + 21.337734954971936, + -1.618708513060103 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 311.2719667864701, + 21.337734954971936, + -1.618708513060103 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 314.2719667864701, + 21.337734954971936, + -1.618708513060103 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 317.2719667864701, + 21.337734954971936, + -1.618708513060103 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 320.2719667864701, + 21.337734954971936, + -1.618708513060103 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 323.2719667864701, + 21.337734954971936, + -1.618708513060103 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 323.2719667864701, + 21.337734954971936, + -1.618708513060103 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 325.8700429978234, + 22.837734954971936, + -1.618708513060103 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 328.46811920917673, + 24.337734954971936, + -1.618708513060103 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 331.06619542053005, + 25.837734954971936, + -1.618708513060103 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 333.66427163188337, + 27.337734954971936, + -1.618708513060103 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 336.2623478432367, + 28.837734954971936, + -1.618708513060103 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 338.86042405459, + 30.337734954971936, + -1.618708513060103 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 341.4585002659433, + 31.837734954971936, + -1.618708513060103 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 344.05657647729663, + 33.337734954971936, + -1.618708513060103 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 344.9839593505859, + 35.070869789123535, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-41-21_410228794/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-41-21_410228794/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..923788ff84df587c4d5c8f70b354aa38d780a444 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-41-21_410228794/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -692.2720550304712, + -25.851425336237185, + 2.9499756190759205 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -693.7720550304712, + -23.25334912488387, + 2.9499756190759205 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -695.2720550304712, + -20.655272913530553, + 2.9499756190759205 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -696.7720550304712, + -18.057196702177237, + 2.9499756190759205 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -698.2720550304712, + -15.45912049082392, + 2.9499756190759205 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -699.7720550304712, + -12.861044279470605, + 2.9499756190759205 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -701.2720550304712, + -10.262968068117289, + 2.9499756190759205 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -702.7720550304712, + -7.6648918567639726, + 2.9499756190759205 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -704.2720550304712, + -5.0668156454106565, + 2.9499756190759205 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -705.7720550304712, + -2.4687394340573405, + 2.9499756190759205 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -707.2720550304712, + 0.12933677729597548, + 2.9499756190759205 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -708.7720550304712, + 2.7274129886492915, + 2.9499756190759205 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -710.2720550304712, + 5.3254892000026075, + 2.9499756190759205 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -711.7720550304712, + 7.9235654113559235, + 2.9499756190759205 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -713.2720550304712, + 10.52164162270924, + 2.9499756190759205 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -714.7720550304712, + 13.119717834062556, + 2.9499756190759205 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -716.2720550304712, + 15.717794045415872, + 2.9499756190759205 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -716.2720550304712, + 15.717794045415872, + 2.9499756190759205 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -718.8701312418245, + 17.21779404541587, + 2.9499756190759205 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -721.4682074531779, + 18.71779404541587, + 2.9499756190759205 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -724.0662836645313, + 20.21779404541587, + 2.9499756190759205 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -726.6643598758847, + 21.71779404541587, + 2.9499756190759205 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -729.262436087238, + 23.21779404541587, + 2.9499756190759205 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -731.5441055297852, + 23.07341537475586, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-48-10_2004187516/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-48-10_2004187516/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..eb781a61ca9c5339f2cfa67715b8a7137cf501db --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-48-10_2004187516/pose.jsonl @@ -0,0 +1,417 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 231.8056246605612, + 682.3231504760807, + -0.14107752032475585 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 234.8056246605612, + 682.3231504760807, + -0.14107752032475585 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 237.8056246605612, + 682.3231504760807, + -0.14107752032475585 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 240.8056246605612, + 682.3231504760807, + -0.14107752032475585 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 243.8056246605612, + 682.3231504760807, + -0.14107752032475585 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 246.8056246605612, + 682.3231504760807, + -0.14107752032475585 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 249.8056246605612, + 682.3231504760807, + -0.14107752032475585 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 252.8056246605612, + 682.3231504760807, + -0.14107752032475585 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 255.8056246605612, + 682.3231504760807, + -0.14107752032475585 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 258.8056246605612, + 682.3231504760807, + -0.14107752032475585 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 261.8056246605612, + 682.3231504760807, + -0.14107752032475585 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 264.8056246605612, + 682.3231504760807, + -0.14107752032475585 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 267.8056246605612, + 682.3231504760807, + -0.14107752032475585 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 270.8056246605612, + 682.3231504760807, + -0.14107752032475585 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 273.8056246605612, + 682.3231504760807, + -0.14107752032475585 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 276.8056246605612, + 682.3231504760807, + -0.14107752032475585 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 279.8056246605612, + 682.3231504760807, + -0.14107752032475585 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 282.8056246605612, + 682.3231504760807, + -0.14107752032475585 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 285.8056246605612, + 682.3231504760807, + -0.14107752032475585 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 288.8056246605612, + 682.3231504760807, + -0.14107752032475585 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 291.8056246605612, + 682.3231504760807, + -0.14107752032475585 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 294.8056246605612, + 682.3231504760807, + -0.14107752032475585 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 294.8056246605612, + 682.3231504760807, + -0.14107752032475585 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 294.8056246605612, + 682.3231504760807, + -0.14107752032475585 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 296.3056246605612, + 679.7250742647275, + -0.14107752032475585 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 297.8056246605612, + 677.1269980533741, + -0.14107752032475585 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 299.3056246605612, + 674.5289218420207, + -0.14107752032475585 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 299.3056246605612, + 674.5289218420207, + -0.14107752032475585 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 301.9037008719145, + 673.0289218420207, + -0.14107752032475585 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 304.5017770832678, + 671.5289218420207, + -0.14107752032475585 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 307.09985329462114, + 670.0289218420207, + -0.14107752032475585 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 307.503537902832, + 668.8986363220215, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-53-40_606199759/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-53-40_606199759/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b9bc9551c1fd64c823460661adc86101bdfda58c --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-53-40_606199759/pose.jsonl @@ -0,0 +1,430 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 17.473182248742724, + 72.16959754206498, + -2.7642233013660236 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 18.973182248742724, + 69.57152133071166, + -2.7642233013660236 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 20.473182248742724, + 66.97344511935835, + -2.7642233013660236 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 21.973182248742724, + 64.37536890800503, + -2.7642233013660236 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 23.473182248742724, + 61.77729269665171, + -2.7642233013660236 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 24.973182248742724, + 59.1792164852984, + -2.7642233013660236 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 26.473182248742724, + 56.58114027394508, + -2.7642233013660236 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 27.973182248742724, + 53.983064062591765, + -2.7642233013660236 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 29.473182248742724, + 51.38498785123845, + -2.7642233013660236 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 30.973182248742724, + 48.78691163988513, + -2.7642233013660236 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 32.473182248742724, + 46.18883542853182, + -2.7642233013660236 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 33.973182248742724, + 43.5907592171785, + -2.7642233013660236 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 35.473182248742724, + 40.992683005825185, + -2.7642233013660236 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 36.973182248742724, + 38.39460679447187, + -2.7642233013660236 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 38.473182248742724, + 35.79653058311855, + -2.7642233013660236 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 39.973182248742724, + 33.19845437176524, + -2.7642233013660236 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 41.473182248742724, + 30.60037816041192, + -2.7642233013660236 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 42.973182248742724, + 28.002301949058605, + -2.7642233013660236 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 44.473182248742724, + 25.40422573770529, + -2.7642233013660236 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 45.973182248742724, + 22.806149526351973, + -2.7642233013660236 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 47.473182248742724, + 20.208073314998657, + -2.7642233013660236 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 48.973182248742724, + 17.60999710364534, + -2.7642233013660236 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 50.473182248742724, + 15.011920892292025, + -2.7642233013660236 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 51.973182248742724, + 12.413844680938709, + -2.7642233013660236 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 53.473182248742724, + 9.815768469585393, + -2.7642233013660236 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 54.973182248742724, + 7.217692258232077, + -2.7642233013660236 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 56.473182248742724, + 4.619616046878761, + -2.7642233013660236 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 56.473182248742724, + 4.619616046878761, + -2.7642233013660236 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 56.473182248742724, + 1.619616046878761, + -2.7642233013660236 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 56.473182248742724, + -1.380383953121239, + -2.7642233013660236 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 56.473182248742724, + -4.380383953121239, + -2.7642233013660236 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 56.473182248742724, + -7.380383953121239, + -2.7642233013660236 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 56.6919751739502, + -8.754466934204101, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-54-14_435889744/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-54-14_435889744/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6c4ef90733ee16b336b2c8fdd87b69060af4fa66 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-54-14_435889744/pose.jsonl @@ -0,0 +1,352 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -229.5670752920954, + -531.1886085487638, + 1.035075374678959 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -231.0670752920954, + -528.5905323374104, + 1.035075374678959 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -232.5670752920954, + -525.992456126057, + 1.035075374678959 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -234.0670752920954, + -523.3943799147037, + 1.035075374678959 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -235.5670752920954, + -520.7963037033503, + 1.035075374678959 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -237.0670752920954, + -518.1982274919969, + 1.035075374678959 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -238.5670752920954, + -515.6001512806436, + 1.035075374678959 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -240.0670752920954, + -513.0020750692902, + 1.035075374678959 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -241.5670752920954, + -510.40399885793687, + 1.035075374678959 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -243.0670752920954, + -507.80592264658355, + 1.035075374678959 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -244.5670752920954, + -505.20784643523024, + 1.035075374678959 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -246.0670752920954, + -502.6097702238769, + 1.035075374678959 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -247.5670752920954, + -500.0116940125236, + 1.035075374678959 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -249.0670752920954, + -497.4136178011703, + 1.035075374678959 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -250.5670752920954, + -494.815541589817, + 1.035075374678959 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -252.0670752920954, + -492.21746537846366, + 1.035075374678959 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -253.5670752920954, + -489.61938916711034, + 1.035075374678959 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -255.0670752920954, + -487.021312955757, + 1.035075374678959 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -256.5670752920954, + -484.4232367444037, + 1.035075374678959 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -258.0670752920954, + -481.8251605330504, + 1.035075374678959 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -259.5670752920954, + -479.2270843216971, + 1.035075374678959 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -261.0670752920954, + -476.62900811034376, + 1.035075374678959 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -262.5670752920954, + -474.03093189899045, + 1.035075374678959 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -264.0670752920954, + -471.43285568763713, + 1.035075374678959 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -265.5670752920954, + -468.8347794762838, + 1.035075374678959 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -267.0670752920954, + -466.2367032649305, + 1.035075374678959 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -270.6246540832519, + -464.87673126220704, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-55-0_272020127/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-55-0_272020127/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..26019cef2814d5a3e33ffde827c61d12f55bebc5 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-55-0_272020127/pose.jsonl @@ -0,0 +1,482 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -250.40054423286983, + -351.98569321202456, + 1.9149059460570905 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -253.40054423286983, + -351.98569321202456, + 1.9149059460570905 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -256.40054423286983, + -351.98569321202456, + 1.9149059460570905 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -259.40054423286983, + -351.98569321202456, + 1.9149059460570905 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -262.40054423286983, + -351.98569321202456, + 1.9149059460570905 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -265.40054423286983, + -351.98569321202456, + 1.9149059460570905 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -268.40054423286983, + -351.98569321202456, + 1.9149059460570905 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -271.40054423286983, + -351.98569321202456, + 1.9149059460570905 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -274.40054423286983, + -351.98569321202456, + 1.9149059460570905 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -277.40054423286983, + -351.98569321202456, + 1.9149059460570905 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -280.40054423286983, + -351.98569321202456, + 1.9149059460570905 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -283.40054423286983, + -351.98569321202456, + 1.9149059460570905 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -286.40054423286983, + -351.98569321202456, + 1.9149059460570905 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -289.40054423286983, + -351.98569321202456, + 1.9149059460570905 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -292.40054423286983, + -351.98569321202456, + 1.9149059460570905 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -295.40054423286983, + -351.98569321202456, + 1.9149059460570905 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -298.40054423286983, + -351.98569321202456, + 1.9149059460570905 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -301.40054423286983, + -351.98569321202456, + 1.9149059460570905 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -304.40054423286983, + -351.98569321202456, + 1.9149059460570905 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -307.40054423286983, + -351.98569321202456, + 1.9149059460570905 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -307.40054423286983, + -351.98569321202456, + 1.9149059460570905 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -309.99862044422315, + -353.48569321202456, + 1.9149059460570905 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -312.59669665557647, + -354.98569321202456, + 1.9149059460570905 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -315.1947728669298, + -356.48569321202456, + 1.9149059460570905 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -317.7928490782831, + -357.98569321202456, + 1.9149059460570905 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -320.3909252896364, + -359.48569321202456, + 1.9149059460570905 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -322.98900150098973, + -360.98569321202456, + 1.9149059460570905 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -325.58707771234305, + -362.48569321202456, + 1.9149059460570905 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -328.18515392369636, + -363.98569321202456, + 1.9149059460570905 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -330.7832301350497, + -365.48569321202456, + 1.9149059460570905 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -333.381306346403, + -366.98569321202456, + 1.9149059460570905 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -335.9793825577563, + -368.48569321202456, + 1.9149059460570905 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -338.5774587691096, + -369.98569321202456, + 1.9149059460570905 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -341.17553498046294, + -371.48569321202456, + 1.9149059460570905 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -343.77361119181626, + -372.98569321202456, + 1.9149059460570905 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -346.3716874031696, + -374.48569321202456, + 1.9149059460570905 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -348.85303680419923, + -377.0924723815918, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-59-3_629593614/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-59-3_629593614/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6733d8d885e59a0fe3acfb9281df75c5bcc58577 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-59-3_629593614/pose.jsonl @@ -0,0 +1,456 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 281.09645713949925, + 781.3897507254924, + 4.48834855637093 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 279.59645713949925, + 778.791674514139, + 4.48834855637093 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 278.09645713949925, + 776.1935983027856, + 4.48834855637093 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 276.59645713949925, + 773.5955220914323, + 4.48834855637093 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 275.09645713949925, + 770.9974458800789, + 4.48834855637093 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 273.59645713949925, + 768.3993696687255, + 4.48834855637093 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 272.09645713949925, + 765.8012934573721, + 4.48834855637093 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 270.59645713949925, + 763.2032172460188, + 4.48834855637093 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 269.09645713949925, + 760.6051410346654, + 4.48834855637093 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 267.59645713949925, + 758.007064823312, + 4.48834855637093 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 266.09645713949925, + 755.4089886119586, + 4.48834855637093 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 264.59645713949925, + 752.8109124006053, + 4.48834855637093 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 263.09645713949925, + 750.2128361892519, + 4.48834855637093 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 261.59645713949925, + 747.6147599778985, + 4.48834855637093 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 260.09645713949925, + 745.0166837665452, + 4.48834855637093 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 258.59645713949925, + 742.4186075551918, + 4.48834855637093 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 257.09645713949925, + 739.8205313438384, + 4.48834855637093 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 255.59645713949925, + 737.222455132485, + 4.48834855637093 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 254.09645713949925, + 734.6243789211317, + 4.48834855637093 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 252.59645713949925, + 732.0263027097783, + 4.48834855637093 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 251.09645713949925, + 729.4282264984249, + 4.48834855637093 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 249.59645713949925, + 726.8301502870715, + 4.48834855637093 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 248.09645713949925, + 724.2320740757182, + 4.48834855637093 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 246.59645713949925, + 721.6339978643648, + 4.48834855637093 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 245.09645713949925, + 719.0359216530114, + 4.48834855637093 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 243.59645713949925, + 716.437845441658, + 4.48834855637093 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 242.09645713949925, + 713.8397692303047, + 4.48834855637093 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 240.59645713949925, + 711.2416930189513, + 4.48834855637093 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 239.09645713949925, + 708.6436168075979, + 4.48834855637093 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 237.59645713949925, + 706.0455405962446, + 4.48834855637093 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 236.09645713949925, + 703.4474643848912, + 4.48834855637093 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 234.59645713949925, + 700.8493881735378, + 4.48834855637093 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 233.09645713949925, + 698.2513119621844, + 4.48834855637093 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 231.59645713949925, + 695.6532357508311, + 4.48834855637093 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 229.7172834777832, + 692.2608906555175, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-8-50_1503885238/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-8-50_1503885238/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..46e89f868bd6ca4ad644705c4e7f9d03ad189694 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-8-50_1503885238/pose.jsonl @@ -0,0 +1,391 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -671.44058639376, + 290.7188744558558, + -3.8376241940787104 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -672.94058639376, + 288.1207982445025, + -3.8376241940787104 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -674.44058639376, + 285.5227220331492, + -3.8376241940787104 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -675.94058639376, + 282.9246458217959, + -3.8376241940787104 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -677.44058639376, + 280.32656961044256, + -3.8376241940787104 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -678.94058639376, + 277.72849339908925, + -3.8376241940787104 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -680.44058639376, + 275.13041718773593, + -3.8376241940787104 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -681.94058639376, + 272.5323409763826, + -3.8376241940787104 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -683.44058639376, + 269.9342647650293, + -3.8376241940787104 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -684.94058639376, + 267.336188553676, + -3.8376241940787104 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -686.44058639376, + 264.73811234232267, + -3.8376241940787104 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -687.94058639376, + 262.14003613096935, + -3.8376241940787104 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -689.44058639376, + 259.54195991961603, + -3.8376241940787104 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -690.94058639376, + 256.9438837082627, + -3.8376241940787104 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -692.44058639376, + 254.3458074969094, + -3.8376241940787104 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -693.94058639376, + 251.74773128555609, + -3.8376241940787104 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -695.44058639376, + 249.14965507420277, + -3.8376241940787104 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -696.94058639376, + 246.55157886284945, + -3.8376241940787104 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -698.44058639376, + 243.95350265149614, + -3.8376241940787104 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -699.94058639376, + 241.35542644014282, + -3.8376241940787104 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -701.44058639376, + 238.7573502287895, + -3.8376241940787104 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -702.94058639376, + 236.1592740174362, + -3.8376241940787104 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -702.94058639376, + 236.1592740174362, + -3.8376241940787104 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -705.5386626051134, + 234.6592740174362, + -3.8376241940787104 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -708.1367388164667, + 233.1592740174362, + -3.8376241940787104 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -710.7348150278201, + 231.6592740174362, + -3.8376241940787104 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -713.3328912391735, + 230.1592740174362, + -3.8376241940787104 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -715.9309674505269, + 228.6592740174362, + -3.8376241940787104 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -718.5290436618802, + 227.1592740174362, + -3.8376241940787104 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -719.2420056152343, + 225.9435828399658, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-9-5_1219407971/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-9-5_1219407971/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ac4634a58812dbe6b300797699025d8a6500cc74 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-9-5_1219407971/pose.jsonl @@ -0,0 +1,443 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -569.2478191278026, + -291.84292462302534, + -1.1177064564229227 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -567.7478191278026, + -289.244848411672, + -1.1177064564229227 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -566.2478191278026, + -286.6467722003187, + -1.1177064564229227 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -564.7478191278026, + -284.0486959889654, + -1.1177064564229227 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -563.2478191278026, + -281.4506197776121, + -1.1177064564229227 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -561.7478191278026, + -278.85254356625876, + -1.1177064564229227 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -560.2478191278026, + -276.25446735490544, + -1.1177064564229227 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -558.7478191278026, + -273.6563911435521, + -1.1177064564229227 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -557.2478191278026, + -271.0583149321988, + -1.1177064564229227 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -555.7478191278026, + -268.4602387208455, + -1.1177064564229227 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -554.2478191278026, + -265.8621625094922, + -1.1177064564229227 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -552.7478191278026, + -263.26408629813886, + -1.1177064564229227 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -551.2478191278026, + -260.66601008678555, + -1.1177064564229227 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -549.7478191278026, + -258.06793387543223, + -1.1177064564229227 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -548.2478191278026, + -255.46985766407892, + -1.1177064564229227 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -546.7478191278026, + -252.8717814527256, + -1.1177064564229227 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -545.2478191278026, + -250.27370524137228, + -1.1177064564229227 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -543.7478191278026, + -247.67562903001897, + -1.1177064564229227 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -542.2478191278026, + -245.07755281866565, + -1.1177064564229227 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -540.7478191278026, + -242.47947660731234, + -1.1177064564229227 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -539.2478191278026, + -239.88140039595902, + -1.1177064564229227 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -537.7478191278026, + -237.2833241846057, + -1.1177064564229227 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -537.7478191278026, + -237.2833241846057, + -1.1177064564229227 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -535.1497429164492, + -235.7833241846057, + -1.1177064564229227 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -532.5516667050958, + -234.2833241846057, + -1.1177064564229227 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -529.9535904937425, + -232.7833241846057, + -1.1177064564229227 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -527.3555142823891, + -231.2833241846057, + -1.1177064564229227 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -524.7574380710357, + -229.7833241846057, + -1.1177064564229227 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -522.1593618596823, + -228.2833241846057, + -1.1177064564229227 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -519.561285648329, + -226.7833241846057, + -1.1177064564229227 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -516.9632094369756, + -225.2833241846057, + -1.1177064564229227 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -514.3651332256222, + -223.7833241846057, + -1.1177064564229227 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -511.7670570142689, + -222.2833241846057, + -1.1177064564229227 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -510.5901588439941, + -220.83477218627928, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-17-20_577721120/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-17-20_577721120/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..50a9d3d86047009764c456985146269388711343 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-17-20_577721120/pose.jsonl @@ -0,0 +1,144 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -985.4970762297734, + 218.87671411176436, + 2.4595026845567887 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -986.9970762297734, + 221.47479032311767, + 2.4595026845567887 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -988.4970762297734, + 224.072866534471, + 2.4595026845567887 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -989.9970762297734, + 226.6709427458243, + 2.4595026845567887 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -991.4970762297734, + 229.26901895717762, + 2.4595026845567887 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -992.9970762297734, + 231.86709516853094, + 2.4595026845567887 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -994.4970762297734, + 234.46517137988425, + 2.4595026845567887 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -995.9970762297734, + 237.06324759123757, + 2.4595026845567887 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -997.4970762297734, + 239.66132380259089, + 2.4595026845567887 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -998.9970762297734, + 242.2594000139442, + 2.4595026845567887 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1041.4117810058594, + 301.62743286132815, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-2-1_1124311574/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-2-1_1124311574/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a9121e807e2533966516c9909baac92ad0b47a3f --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-2-1_1124311574/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -607.6812355270852, + -202.61715624627737, + -1.6314621404587806 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -610.2793117384385, + -201.11715624627737, + -1.6314621404587806 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -612.8773879497919, + -199.61715624627737, + -1.6314621404587806 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -615.4754641611453, + -198.11715624627737, + -1.6314621404587806 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -618.0735403724987, + -196.61715624627737, + -1.6314621404587806 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -620.671616583852, + -195.11715624627737, + -1.6314621404587806 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -623.2696927952054, + -193.61715624627737, + -1.6314621404587806 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -625.8677690065588, + -192.11715624627737, + -1.6314621404587806 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -628.4658452179121, + -190.61715624627737, + -1.6314621404587806 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -631.0639214292655, + -189.11715624627737, + -1.6314621404587806 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -633.6619976406189, + -187.61715624627737, + -1.6314621404587806 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -636.2600738519723, + -186.11715624627737, + -1.6314621404587806 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -638.8581500633256, + -184.61715624627737, + -1.6314621404587806 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -641.456226274679, + -183.11715624627737, + -1.6314621404587806 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -644.0543024860324, + -181.61715624627737, + -1.6314621404587806 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -646.6523786973858, + -180.11715624627737, + -1.6314621404587806 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -649.2504549087391, + -178.61715624627737, + -1.6314621404587806 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -651.8485311200925, + -177.11715624627737, + -1.6314621404587806 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -651.8485311200925, + -177.11715624627737, + -1.6314621404587806 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -653.3485311200925, + -174.51908003492406, + -1.6314621404587806 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -654.8485311200925, + -171.92100382357074, + -1.6314621404587806 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -656.3485311200925, + -169.32292761221743, + -1.6314621404587806 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -657.8485311200925, + -166.7248514008641, + -1.6314621404587806 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -659.3485311200925, + -164.1267751895108, + -1.6314621404587806 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -661.3270858764648, + -162.2898444366455, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-21-1_1821066342/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-21-1_1821066342/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..67b1e21886ff1a5a0fc96e32afbf43090600c734 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-21-1_1821066342/pose.jsonl @@ -0,0 +1,573 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -699.4915662327749, + 162.28661023010005, + -0.4797081151637661 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -702.0896424441282, + 160.78661023010005, + -0.4797081151637661 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -704.6877186554816, + 159.28661023010005, + -0.4797081151637661 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -707.285794866835, + 157.78661023010005, + -0.4797081151637661 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -709.8838710781883, + 156.28661023010005, + -0.4797081151637661 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -712.4819472895417, + 154.78661023010005, + -0.4797081151637661 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -715.0800235008951, + 153.28661023010005, + -0.4797081151637661 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -717.6780997122485, + 151.78661023010005, + -0.4797081151637661 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -720.2761759236018, + 150.28661023010005, + -0.4797081151637661 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -722.8742521349552, + 148.78661023010005, + -0.4797081151637661 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -725.4723283463086, + 147.28661023010005, + -0.4797081151637661 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -728.070404557662, + 145.78661023010005, + -0.4797081151637661 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -730.6684807690153, + 144.28661023010005, + -0.4797081151637661 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -733.2665569803687, + 142.78661023010005, + -0.4797081151637661 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -735.8646331917221, + 141.28661023010005, + -0.4797081151637661 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -738.4627094030755, + 139.78661023010005, + -0.4797081151637661 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -741.0607856144288, + 138.28661023010005, + -0.4797081151637661 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -743.6588618257822, + 136.78661023010005, + -0.4797081151637661 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -746.2569380371356, + 135.28661023010005, + -0.4797081151637661 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -748.8550142484889, + 133.78661023010005, + -0.4797081151637661 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -748.8550142484889, + 133.78661023010005, + -0.4797081151637661 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -750.3550142484889, + 131.18853401874674, + -0.4797081151637661 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -751.8550142484889, + 128.59045780739342, + -0.4797081151637661 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -753.3550142484889, + 125.9923815960401, + -0.4797081151637661 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -754.8550142484889, + 123.39430538468679, + -0.4797081151637661 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -756.3550142484889, + 120.79622917333347, + -0.4797081151637661 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -757.8550142484889, + 118.19815296198016, + -0.4797081151637661 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -759.3550142484889, + 115.60007675062684, + -0.4797081151637661 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -760.8550142484889, + 113.00200053927352, + -0.4797081151637661 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -762.3550142484889, + 110.40392432792021, + -0.4797081151637661 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -763.8550142484889, + 107.80584811656689, + -0.4797081151637661 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -765.3550142484889, + 105.20777190521358, + -0.4797081151637661 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -766.8550142484889, + 102.60969569386026, + -0.4797081151637661 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -768.3550142484889, + 100.01161948250694, + -0.4797081151637661 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -769.8550142484889, + 97.41354327115363, + -0.4797081151637661 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -771.3550142484889, + 94.81546705980031, + -0.4797081151637661 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -772.8550142484889, + 92.217390848447, + -0.4797081151637661 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -774.3550142484889, + 89.61931463709368, + -0.4797081151637661 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -775.8550142484889, + 87.02123842574036, + -0.4797081151637661 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -775.8550142484889, + 87.02123842574036, + -0.4797081151637661 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -778.4530904598423, + 85.52123842574036, + -0.4797081151637661 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -781.0511666711957, + 84.02123842574036, + -0.4797081151637661 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -783.6492428825491, + 82.52123842574036, + -0.4797081151637661 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -785.9369680786133, + 81.05284317016601, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-23-23_1763794427/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-23-23_1763794427/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e949cc91b697e9c4afd8ffd4495e0a12a2972283 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-23-23_1763794427/pose.jsonl @@ -0,0 +1,404 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 224.56054942690295, + -254.53578478326523, + -4.637994898456145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 221.96247321554964, + -256.0357847832652, + -4.637994898456145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 219.36439700419632, + -257.5357847832652, + -4.637994898456145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 216.766320792843, + -259.0357847832652, + -4.637994898456145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 214.1682445814897, + -260.5357847832652, + -4.637994898456145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 211.57016837013637, + -262.0357847832652, + -4.637994898456145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 208.97209215878306, + -263.5357847832652, + -4.637994898456145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 206.37401594742974, + -265.0357847832652, + -4.637994898456145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 203.77593973607642, + -266.5357847832652, + -4.637994898456145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 201.1778635247231, + -268.0357847832652, + -4.637994898456145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 198.5797873133698, + -269.5357847832652, + -4.637994898456145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 195.98171110201648, + -271.0357847832652, + -4.637994898456145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 193.38363489066316, + -272.5357847832652, + -4.637994898456145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 190.78555867930984, + -274.0357847832652, + -4.637994898456145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 188.18748246795653, + -275.5357847832652, + -4.637994898456145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 185.5894062566032, + -277.0357847832652, + -4.637994898456145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 182.9913300452499, + -278.5357847832652, + -4.637994898456145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 180.39325383389658, + -280.0357847832652, + -4.637994898456145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 177.79517762254326, + -281.5357847832652, + -4.637994898456145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 175.19710141118995, + -283.0357847832652, + -4.637994898456145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 172.59902519983663, + -284.5357847832652, + -4.637994898456145 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 172.59902519983663, + -284.5357847832652, + -4.637994898456145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 171.09902519983663, + -287.13386099461854, + -4.637994898456145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 169.59902519983663, + -289.73193720597186, + -4.637994898456145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 168.09902519983663, + -292.3300134173252, + -4.637994898456145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 166.59902519983663, + -294.9280896286785, + -4.637994898456145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 165.09902519983663, + -297.5261658400318, + -4.637994898456145 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 165.09902519983663, + -297.5261658400318, + -4.637994898456145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 162.50094898848332, + -299.0261658400318, + -4.637994898456145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 159.90287277713, + -300.5261658400318, + -4.637994898456145 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 156.50516716003418, + -301.9973617553711, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-25-24_10901063/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-25-24_10901063/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6bcdc67ad182d56faa77da707b31af1b5e842e1c --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-25-24_10901063/pose.jsonl @@ -0,0 +1,573 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 81.26755405474348, + -173.17217559903997, + 3.6225086352212994 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 78.66947784339017, + -174.67217559903997, + 3.6225086352212994 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 76.07140163203685, + -176.17217559903997, + 3.6225086352212994 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 73.47332542068354, + -177.67217559903997, + 3.6225086352212994 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 70.87524920933022, + -179.17217559903997, + 3.6225086352212994 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 68.2771729979769, + -180.67217559903997, + 3.6225086352212994 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 65.67909678662359, + -182.17217559903997, + 3.6225086352212994 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 63.08102057527027, + -183.67217559903997, + 3.6225086352212994 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 60.48294436391696, + -185.17217559903997, + 3.6225086352212994 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 57.88486815256364, + -186.67217559903997, + 3.6225086352212994 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 55.286791941210325, + -188.17217559903997, + 3.6225086352212994 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 52.68871572985701, + -189.67217559903997, + 3.6225086352212994 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 50.09063951850369, + -191.17217559903997, + 3.6225086352212994 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 47.49256330715038, + -192.67217559903997, + 3.6225086352212994 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 44.89448709579706, + -194.17217559903997, + 3.6225086352212994 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 42.296410884443745, + -195.67217559903997, + 3.6225086352212994 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 39.69833467309043, + -197.17217559903997, + 3.6225086352212994 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 37.10025846173711, + -198.67217559903997, + 3.6225086352212994 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 34.5021822503838, + -200.17217559903997, + 3.6225086352212994 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 31.90410603903048, + -201.67217559903997, + 3.6225086352212994 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 29.306029827677165, + -203.17217559903997, + 3.6225086352212994 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 26.70795361632385, + -204.67217559903997, + 3.6225086352212994 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 24.109877404970533, + -206.17217559903997, + 3.6225086352212994 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 24.109877404970533, + -206.17217559903997, + 3.6225086352212994 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 22.609877404970533, + -208.7702518103933, + 3.6225086352212994 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 21.109877404970533, + -211.3683280217466, + 3.6225086352212994 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 19.609877404970533, + -213.96640423309992, + 3.6225086352212994 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 18.109877404970533, + -216.56448044445324, + 3.6225086352212994 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 16.609877404970533, + -219.16255665580655, + 3.6225086352212994 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 15.109877404970533, + -221.76063286715987, + 3.6225086352212994 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 13.609877404970533, + -224.3587090785132, + 3.6225086352212994 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 12.109877404970533, + -226.9567852898665, + 3.6225086352212994 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 10.609877404970533, + -229.55486150121982, + 3.6225086352212994 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 9.109877404970533, + -232.15293771257313, + 3.6225086352212994 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 7.6098774049705336, + -234.75101392392645, + 3.6225086352212994 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 6.109877404970534, + -237.34909013527977, + 3.6225086352212994 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 4.609877404970535, + -239.94716634663308, + 3.6225086352212994 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 3.109877404970536, + -242.5452425579864, + 3.6225086352212994 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 3.109877404970536, + -242.5452425579864, + 3.6225086352212994 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 0.5118011936172202, + -244.0452425579864, + 3.6225086352212994 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -2.086275017736096, + -245.5452425579864, + 3.6225086352212994 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -4.684351229089412, + -247.0452425579864, + 3.6225086352212994 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -7.282427440442728, + -248.5452425579864, + 3.6225086352212994 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -8.725501627922059, + -251.86730323791502, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-25-4_51245830/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-25-4_51245830/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5bdf2330890f325418df00522c78728a11d3a1e1 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-25-4_51245830/pose.jsonl @@ -0,0 +1,573 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -784.1954158386824, + 158.7280708975419, + 1.0830229248438537 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -781.1954158386824, + 158.7280708975419, + 1.0830229248438537 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -778.1954158386824, + 158.7280708975419, + 1.0830229248438537 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -775.1954158386824, + 158.7280708975419, + 1.0830229248438537 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -772.1954158386824, + 158.7280708975419, + 1.0830229248438537 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -769.1954158386824, + 158.7280708975419, + 1.0830229248438537 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -766.1954158386824, + 158.7280708975419, + 1.0830229248438537 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -763.1954158386824, + 158.7280708975419, + 1.0830229248438537 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -760.1954158386824, + 158.7280708975419, + 1.0830229248438537 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -757.1954158386824, + 158.7280708975419, + 1.0830229248438537 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -754.1954158386824, + 158.7280708975419, + 1.0830229248438537 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -754.1954158386824, + 158.7280708975419, + 1.0830229248438537 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -754.1954158386824, + 158.7280708975419, + 1.0830229248438537 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -752.6954158386824, + 156.12999468618858, + 1.0830229248438537 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -751.1954158386824, + 153.53191847483527, + 1.0830229248438537 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -749.6954158386824, + 150.93384226348195, + 1.0830229248438537 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -748.1954158386824, + 148.33576605212863, + 1.0830229248438537 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -746.6954158386824, + 145.73768984077532, + 1.0830229248438537 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -745.1954158386824, + 143.139613629422, + 1.0830229248438537 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -743.6954158386824, + 140.54153741806869, + 1.0830229248438537 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -743.6954158386824, + 140.54153741806869, + 1.0830229248438537 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -741.0973396273291, + 139.04153741806869, + 1.0830229248438537 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -738.4992634159757, + 137.54153741806869, + 1.0830229248438537 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -735.9011872046224, + 136.04153741806869, + 1.0830229248438537 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -733.303110993269, + 134.54153741806869, + 1.0830229248438537 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -730.7050347819156, + 133.04153741806869, + 1.0830229248438537 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -728.1069585705623, + 131.54153741806869, + 1.0830229248438537 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -725.5088823592089, + 130.04153741806869, + 1.0830229248438537 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -722.9108061478555, + 128.54153741806869, + 1.0830229248438537 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -720.3127299365021, + 127.04153741806869, + 1.0830229248438537 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -717.7146537251488, + 125.54153741806869, + 1.0830229248438537 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -715.1165775137954, + 124.04153741806869, + 1.0830229248438537 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -712.518501302442, + 122.54153741806869, + 1.0830229248438537 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -709.9204250910886, + 121.04153741806869, + 1.0830229248438537 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -707.3223488797353, + 119.54153741806869, + 1.0830229248438537 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -704.7242726683819, + 118.04153741806869, + 1.0830229248438537 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -702.1261964570285, + 116.54153741806869, + 1.0830229248438537 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -699.5281202456752, + 115.04153741806869, + 1.0830229248438537 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -696.9300440343218, + 113.54153741806869, + 1.0830229248438537 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -694.3319678229684, + 112.04153741806869, + 1.0830229248438537 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -691.733891611615, + 110.54153741806869, + 1.0830229248438537 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -689.1358154002617, + 109.04153741806869, + 1.0830229248438537 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -686.5377391889083, + 107.54153741806869, + 1.0830229248438537 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -682.7478131103516, + 107.50352409362793, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-30-23_1626250262/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-30-23_1626250262/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9b050134763db39838cbb6ae85ec4727b4d83d17 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-30-23_1626250262/pose.jsonl @@ -0,0 +1,157 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 473.44866460439664, + 214.7596365389791, + 3.1458767314945266 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 476.44866460439664, + 214.7596365389791, + 3.1458767314945266 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 479.44866460439664, + 214.7596365389791, + 3.1458767314945266 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 482.44866460439664, + 214.7596365389791, + 3.1458767314945266 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 482.44866460439664, + 214.7596365389791, + 3.1458767314945266 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 485.04674081574996, + 216.2596365389791, + 3.1458767314945266 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 487.6448170271033, + 217.7596365389791, + 3.1458767314945266 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 490.2428932384566, + 219.2596365389791, + 3.1458767314945266 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 492.8409694498099, + 220.7596365389791, + 3.1458767314945266 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 495.4390456611632, + 222.2596365389791, + 3.1458767314945266 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 498.03712187251654, + 223.7596365389791, + 3.1458767314945266 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 583.5565863037109, + 244.7667236328125, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-35-14_1633938701/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-35-14_1633938701/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..59d41b307eb2793bf37530324b528dd45d5fe303 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-35-14_1633938701/pose.jsonl @@ -0,0 +1,456 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -197.3074065550182, + 352.77826404822446, + 1.5870010694569956 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -194.3074065550182, + 352.77826404822446, + 1.5870010694569956 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -191.3074065550182, + 352.77826404822446, + 1.5870010694569956 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -188.3074065550182, + 352.77826404822446, + 1.5870010694569956 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -185.3074065550182, + 352.77826404822446, + 1.5870010694569956 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -182.3074065550182, + 352.77826404822446, + 1.5870010694569956 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -179.3074065550182, + 352.77826404822446, + 1.5870010694569956 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -176.3074065550182, + 352.77826404822446, + 1.5870010694569956 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -173.3074065550182, + 352.77826404822446, + 1.5870010694569956 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -170.3074065550182, + 352.77826404822446, + 1.5870010694569956 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -167.3074065550182, + 352.77826404822446, + 1.5870010694569956 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -164.3074065550182, + 352.77826404822446, + 1.5870010694569956 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -161.3074065550182, + 352.77826404822446, + 1.5870010694569956 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -158.3074065550182, + 352.77826404822446, + 1.5870010694569956 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -155.3074065550182, + 352.77826404822446, + 1.5870010694569956 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -155.3074065550182, + 352.77826404822446, + 1.5870010694569956 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -152.70933034366487, + 354.27826404822446, + 1.5870010694569956 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -152.70933034366487, + 354.27826404822446, + 1.5870010694569956 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -151.20933034366487, + 356.8763402595778, + 1.5870010694569956 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -149.70933034366487, + 359.4744164709311, + 1.5870010694569956 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -148.20933034366487, + 362.0724926822844, + 1.5870010694569956 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -148.20933034366487, + 362.0724926822844, + 1.5870010694569956 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -145.61125413231156, + 363.5724926822844, + 1.5870010694569956 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -143.01317792095824, + 365.0724926822844, + 1.5870010694569956 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -140.41510170960493, + 366.5724926822844, + 1.5870010694569956 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -137.8170254982516, + 368.0724926822844, + 1.5870010694569956 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -135.2189492868983, + 369.5724926822844, + 1.5870010694569956 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -132.62087307554498, + 371.0724926822844, + 1.5870010694569956 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -130.02279686419166, + 372.5724926822844, + 1.5870010694569956 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -127.42472065283835, + 374.0724926822844, + 1.5870010694569956 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -124.82664444148503, + 375.5724926822844, + 1.5870010694569956 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -122.22856823013171, + 377.0724926822844, + 1.5870010694569956 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -119.6304920187784, + 378.5724926822844, + 1.5870010694569956 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -117.03241580742508, + 380.0724926822844, + 1.5870010694569956 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -114.1546768951416, + 378.73713836669924, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-40-0_1250801052/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-40-0_1250801052/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fd56d4ae59d3235c06b50791b633dbca9949a383 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-40-0_1250801052/pose.jsonl @@ -0,0 +1,456 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -726.806826043041, + 87.80098899569357, + 0.5982148709458048 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -725.306826043041, + 85.20291278434026, + 0.5982148709458048 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -723.806826043041, + 82.60483657298694, + 0.5982148709458048 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -722.306826043041, + 80.00676036163362, + 0.5982148709458048 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -720.806826043041, + 77.40868415028031, + 0.5982148709458048 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -719.306826043041, + 74.81060793892699, + 0.5982148709458048 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -717.806826043041, + 72.21253172757368, + 0.5982148709458048 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -716.306826043041, + 69.61445551622036, + 0.5982148709458048 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -714.806826043041, + 67.01637930486704, + 0.5982148709458048 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -713.306826043041, + 64.41830309351373, + 0.5982148709458048 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -711.806826043041, + 61.82022688216041, + 0.5982148709458048 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -710.306826043041, + 59.222150670807096, + 0.5982148709458048 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -708.806826043041, + 56.62407445945378, + 0.5982148709458048 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -707.306826043041, + 54.025998248100464, + 0.5982148709458048 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -705.806826043041, + 51.42792203674715, + 0.5982148709458048 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -704.306826043041, + 48.82984582539383, + 0.5982148709458048 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -702.806826043041, + 46.231769614040516, + 0.5982148709458048 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -701.306826043041, + 43.6336934026872, + 0.5982148709458048 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -699.806826043041, + 41.035617191333884, + 0.5982148709458048 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -698.306826043041, + 38.43754097998057, + 0.5982148709458048 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -696.806826043041, + 35.83946476862725, + 0.5982148709458048 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -695.306826043041, + 33.241388557273936, + 0.5982148709458048 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -693.806826043041, + 30.64331234592062, + 0.5982148709458048 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -693.806826043041, + 30.64331234592062, + 0.5982148709458048 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -691.2087498316878, + 29.14331234592062, + 0.5982148709458048 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -688.6106736203344, + 27.64331234592062, + 0.5982148709458048 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -686.012597408981, + 26.14331234592062, + 0.5982148709458048 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -683.4145211976277, + 24.64331234592062, + 0.5982148709458048 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -680.8164449862743, + 23.14331234592062, + 0.5982148709458048 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -678.2183687749209, + 21.64331234592062, + 0.5982148709458048 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -675.6202925635675, + 20.14331234592062, + 0.5982148709458048 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -673.0222163522142, + 18.64331234592062, + 0.5982148709458048 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -670.4241401408608, + 17.14331234592062, + 0.5982148709458048 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -667.8260639295074, + 15.64331234592062, + 0.5982148709458048 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -667.3111592102051, + 12.556017684936524, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-42-37_857490000/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-42-37_857490000/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1198d4122c0dcc7eedefa6f5945827eb09864286 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-42-37_857490000/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -872.6929646517025, + 338.7764379732376, + -3.0624315460426543 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -875.6929646517025, + 338.7764379732376, + -3.0624315460426543 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -878.6929646517025, + 338.7764379732376, + -3.0624315460426543 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -881.6929646517025, + 338.7764379732376, + -3.0624315460426543 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -884.6929646517025, + 338.7764379732376, + -3.0624315460426543 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -887.6929646517025, + 338.7764379732376, + -3.0624315460426543 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -890.6929646517025, + 338.7764379732376, + -3.0624315460426543 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -893.6929646517025, + 338.7764379732376, + -3.0624315460426543 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -896.6929646517025, + 338.7764379732376, + -3.0624315460426543 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -899.6929646517025, + 338.7764379732376, + -3.0624315460426543 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -902.6929646517025, + 338.7764379732376, + -3.0624315460426543 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -905.6929646517025, + 338.7764379732376, + -3.0624315460426543 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -908.6929646517025, + 338.7764379732376, + -3.0624315460426543 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -911.6929646517025, + 338.7764379732376, + -3.0624315460426543 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -914.6929646517025, + 338.7764379732376, + -3.0624315460426543 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -917.6929646517025, + 338.7764379732376, + -3.0624315460426543 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -920.6929646517025, + 338.7764379732376, + -3.0624315460426543 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -923.6929646517025, + 338.7764379732376, + -3.0624315460426543 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -926.6929646517025, + 338.7764379732376, + -3.0624315460426543 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -929.6929646517025, + 338.7764379732376, + -3.0624315460426543 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -932.6929646517025, + 338.7764379732376, + -3.0624315460426543 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -935.6929646517025, + 338.7764379732376, + -3.0624315460426543 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -938.6929646517025, + 338.7764379732376, + -3.0624315460426543 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -941.6929646517025, + 338.7764379732376, + -3.0624315460426543 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -942.5730328369141, + 336.42247901916505, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-50-27_1240554603/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-50-27_1240554603/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7ac82cd6a1a550693fbb68a323da2dd56c1b2216 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-50-27_1240554603/pose.jsonl @@ -0,0 +1,391 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -833.1402538918492, + 74.02658823277166, + 2.1935376677480676 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -830.1402538918492, + 74.02658823277166, + 2.1935376677480676 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -827.1402538918492, + 74.02658823277166, + 2.1935376677480676 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -824.1402538918492, + 74.02658823277166, + 2.1935376677480676 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -821.1402538918492, + 74.02658823277166, + 2.1935376677480676 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -818.1402538918492, + 74.02658823277166, + 2.1935376677480676 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -815.1402538918492, + 74.02658823277166, + 2.1935376677480676 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -812.1402538918492, + 74.02658823277166, + 2.1935376677480676 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -812.1402538918492, + 74.02658823277166, + 2.1935376677480676 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -812.1402538918492, + 74.02658823277166, + 2.1935376677480676 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -810.6402538918492, + 71.42851202141834, + 2.1935376677480676 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -809.1402538918492, + 68.83043581006503, + 2.1935376677480676 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -807.6402538918492, + 66.23235959871171, + 2.1935376677480676 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -807.6402538918492, + 66.23235959871171, + 2.1935376677480676 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -805.0421776804958, + 64.73235959871171, + 2.1935376677480676 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -802.4441014691424, + 63.23235959871171, + 2.1935376677480676 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -799.846025257789, + 61.73235959871171, + 2.1935376677480676 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -797.2479490464357, + 60.23235959871171, + 2.1935376677480676 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -794.6498728350823, + 58.73235959871171, + 2.1935376677480676 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -792.0517966237289, + 57.23235959871171, + 2.1935376677480676 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -789.4537204123756, + 55.73235959871171, + 2.1935376677480676 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -786.8556442010222, + 54.23235959871171, + 2.1935376677480676 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -784.2575679896688, + 52.73235959871171, + 2.1935376677480676 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -781.6594917783154, + 51.23235959871171, + 2.1935376677480676 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -779.0614155669621, + 49.73235959871171, + 2.1935376677480676 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -776.4633393556087, + 48.23235959871171, + 2.1935376677480676 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -776.4633393556087, + 48.23235959871171, + 2.1935376677480676 + ], + "type": "go straight", + "value": 3, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -773.4633393556087, + 48.23235959871171, + 2.1935376677480676 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -770.4633393556087, + 48.23235959871171, + 2.1935376677480676 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -768.8232287597656, + 49.617736358642574, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-53-35_1785550551/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-53-35_1785550551/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4ca0a7971f6d494e11ba008a2b7e71d6b0623576 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-53-35_1785550551/pose.jsonl @@ -0,0 +1,469 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -636.1635868028866, + 178.11143088260133, + 1.4239206574466143 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -633.1635868028866, + 178.11143088260133, + 1.4239206574466143 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -630.1635868028866, + 178.11143088260133, + 1.4239206574466143 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -627.1635868028866, + 178.11143088260133, + 1.4239206574466143 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -624.1635868028866, + 178.11143088260133, + 1.4239206574466143 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -621.1635868028866, + 178.11143088260133, + 1.4239206574466143 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -618.1635868028866, + 178.11143088260133, + 1.4239206574466143 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -615.1635868028866, + 178.11143088260133, + 1.4239206574466143 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -612.1635868028866, + 178.11143088260133, + 1.4239206574466143 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -609.1635868028866, + 178.11143088260133, + 1.4239206574466143 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -606.1635868028866, + 178.11143088260133, + 1.4239206574466143 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -603.1635868028866, + 178.11143088260133, + 1.4239206574466143 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -600.1635868028866, + 178.11143088260133, + 1.4239206574466143 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -597.1635868028866, + 178.11143088260133, + 1.4239206574466143 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -594.1635868028866, + 178.11143088260133, + 1.4239206574466143 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -591.1635868028866, + 178.11143088260133, + 1.4239206574466143 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -588.1635868028866, + 178.11143088260133, + 1.4239206574466143 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -585.1635868028866, + 178.11143088260133, + 1.4239206574466143 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -582.1635868028866, + 178.11143088260133, + 1.4239206574466143 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -582.1635868028866, + 178.11143088260133, + 1.4239206574466143 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -582.1635868028866, + 178.11143088260133, + 1.4239206574466143 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -580.6635868028866, + 180.70950709395464, + 1.4239206574466143 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -579.1635868028866, + 183.30758330530796, + 1.4239206574466143 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -577.6635868028866, + 185.90565951666127, + 1.4239206574466143 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -577.6635868028866, + 185.90565951666127, + 1.4239206574466143 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -575.0655105915332, + 187.40565951666127, + 1.4239206574466143 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -572.4674343801798, + 188.90565951666127, + 1.4239206574466143 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -569.8693581688265, + 190.40565951666127, + 1.4239206574466143 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -567.2712819574731, + 191.90565951666127, + 1.4239206574466143 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -564.6732057461197, + 193.40565951666127, + 1.4239206574466143 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -562.0751295347663, + 194.90565951666127, + 1.4239206574466143 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -559.477053323413, + 196.40565951666127, + 1.4239206574466143 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -556.8789771120596, + 197.90565951666127, + 1.4239206574466143 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -554.2809009007062, + 199.40565951666127, + 1.4239206574466143 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -551.6828246893529, + 200.90565951666127, + 1.4239206574466143 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -547.9009985351562, + 200.65022193908692, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-56-33_298501962/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-56-33_298501962/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..55e91479439a7069063af5cb0f39291d6737b2dd --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-56-33_298501962/pose.jsonl @@ -0,0 +1,66 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 492.0838753708276, + 370.8603369333519, + 2.4590828241702063 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 494.68195158218094, + 372.3603369333519, + 2.4590828241702063 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 497.28002779353426, + 373.8603369333519, + 2.4590828241702063 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 499.8781040048876, + 375.3603369333519, + 2.4590828241702063 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 560.3580831909179, + 412.7992530822754, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-57-36_1813080154/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-57-36_1813080154/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..47c3deb6d6dc19234b00598b7f8e2c292ac0b4f5 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-57-36_1813080154/pose.jsonl @@ -0,0 +1,378 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 469.1887831001877, + 636.4095034254218, + -1.9093704356421322 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 467.6887831001877, + 633.8114272140685, + -1.9093704356421322 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 466.1887831001877, + 631.2133510027152, + -1.9093704356421322 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 464.6887831001877, + 628.6152747913618, + -1.9093704356421322 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 463.1887831001877, + 626.0171985800084, + -1.9093704356421322 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 461.6887831001877, + 623.419122368655, + -1.9093704356421322 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 460.1887831001877, + 620.8210461573017, + -1.9093704356421322 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 458.6887831001877, + 618.2229699459483, + -1.9093704356421322 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 457.1887831001877, + 615.6248937345949, + -1.9093704356421322 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 455.6887831001877, + 613.0268175232416, + -1.9093704356421322 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 454.1887831001877, + 610.4287413118882, + -1.9093704356421322 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 452.6887831001877, + 607.8306651005348, + -1.9093704356421322 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 451.1887831001877, + 605.2325888891814, + -1.9093704356421322 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 449.6887831001877, + 602.6345126778281, + -1.9093704356421322 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 448.1887831001877, + 600.0364364664747, + -1.9093704356421322 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 446.6887831001877, + 597.4383602551213, + -1.9093704356421322 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 445.1887831001877, + 594.840284043768, + -1.9093704356421322 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 443.6887831001877, + 592.2422078324146, + -1.9093704356421322 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 442.1887831001877, + 589.6441316210612, + -1.9093704356421322 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 440.6887831001877, + 587.0460554097078, + -1.9093704356421322 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 439.1887831001877, + 584.4479791983545, + -1.9093704356421322 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 437.6887831001877, + 581.8499029870011, + -1.9093704356421322 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 436.1887831001877, + 579.2518267756477, + -1.9093704356421322 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 436.1887831001877, + 579.2518267756477, + -1.9093704356421322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 436.1887831001877, + 576.2518267756477, + -1.9093704356421322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 436.1887831001877, + 573.2518267756477, + -1.9093704356421322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 436.1887831001877, + 570.2518267756477, + -1.9093704356421322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 436.1887831001877, + 567.2518267756477, + -1.9093704356421322 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 434.03729019165036, + 563.8867979431152, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-59-41_1030313563/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-59-41_1030313563/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..613e93145baf446aa85e31aa5216cbcbe2460a1e --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-59-41_1030313563/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -648.2876798076603, + 108.82680252326796, + 3.102305292014721 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -646.7876798076603, + 106.22872631191464, + 3.102305292014721 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -645.2876798076603, + 103.63065010056133, + 3.102305292014721 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -643.7876798076603, + 101.03257388920801, + 3.102305292014721 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -642.2876798076603, + 98.4344976778547, + 3.102305292014721 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -640.7876798076603, + 95.83642146650138, + 3.102305292014721 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -639.2876798076603, + 93.23834525514806, + 3.102305292014721 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -637.7876798076603, + 90.64026904379475, + 3.102305292014721 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -636.2876798076603, + 88.04219283244143, + 3.102305292014721 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -634.7876798076603, + 85.44411662108811, + 3.102305292014721 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -633.2876798076603, + 82.8460404097348, + 3.102305292014721 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -631.7876798076603, + 80.24796419838148, + 3.102305292014721 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -631.7876798076603, + 80.24796419838148, + 3.102305292014721 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -631.7876798076603, + 77.24796419838148, + 3.102305292014721 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -631.7876798076603, + 74.24796419838148, + 3.102305292014721 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -631.7876798076603, + 71.24796419838148, + 3.102305292014721 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -631.7876798076603, + 68.24796419838148, + 3.102305292014721 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -631.7876798076603, + 65.24796419838148, + 3.102305292014721 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -631.7876798076603, + 62.24796419838148, + 3.102305292014721 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -631.7876798076603, + 59.24796419838148, + 3.102305292014721 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -631.7876798076603, + 56.24796419838148, + 3.102305292014721 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -631.7876798076603, + 53.24796419838148, + 3.102305292014721 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -631.7876798076603, + 50.24796419838148, + 3.102305292014721 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -629.9300636291504, + 48.19314208984375, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-6-55_406011017/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-6-55_406011017/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a03875b5caf0992cbe571d4e8f2f829cb2b73087 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-6-55_406011017/pose.jsonl @@ -0,0 +1,404 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -790.5351808138555, + -36.10566025072037, + -1.0038400448433333 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -789.0351808138555, + -33.50758403936705, + -1.0038400448433333 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -787.5351808138555, + -30.909507828013737, + -1.0038400448433333 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -786.0351808138555, + -28.31143161666042, + -1.0038400448433333 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -784.5351808138555, + -25.713355405307105, + -1.0038400448433333 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -783.0351808138555, + -23.11527919395379, + -1.0038400448433333 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -781.5351808138555, + -20.517202982600473, + -1.0038400448433333 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -780.0351808138555, + -17.919126771247157, + -1.0038400448433333 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -778.5351808138555, + -15.321050559893841, + -1.0038400448433333 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -777.0351808138555, + -12.722974348540525, + -1.0038400448433333 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -775.5351808138555, + -10.124898137187209, + -1.0038400448433333 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -774.0351808138555, + -7.526821925833893, + -1.0038400448433333 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -772.5351808138555, + -4.928745714480577, + -1.0038400448433333 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -771.0351808138555, + -2.330669503127261, + -1.0038400448433333 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -769.5351808138555, + 0.26740670822605495, + -1.0038400448433333 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -769.5351808138555, + 0.26740670822605495, + -1.0038400448433333 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -766.9371046025021, + 1.7674067082260547, + -1.0038400448433333 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982893 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -764.3390283911488, + 3.2674067082260545, + -1.0038400448433333 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982893 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -761.7409521797954, + 4.767406708226054, + -1.0038400448433333 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982893 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -759.142875968442, + 6.267406708226054, + -1.0038400448433333 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -756.5447997570886, + 7.767406708226054, + -1.0038400448433333 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -753.9467235457353, + 9.267406708226053, + -1.0038400448433333 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982892 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -751.3486473343819, + 10.767406708226053, + -1.0038400448433333 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -748.7505711230285, + 12.267406708226053, + -1.0038400448433333 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -746.1524949116751, + 13.767406708226053, + -1.0038400448433333 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -743.5544187003218, + 15.267406708226053, + -1.0038400448433333 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -740.9563424889684, + 16.76740670822605, + -1.0038400448433333 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982888 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -738.358266277615, + 18.26740670822605, + -1.0038400448433333 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -735.7601900662617, + 19.76740670822605, + -1.0038400448433333 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -733.1621138549083, + 21.26740670822605, + -1.0038400448433333 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -731.5441055297852, + 23.07341537475586, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-9-38_2030449291/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-9-38_2030449291/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c136d8af7d6b7b3c49931d136ef6fe896232704c --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-9-38_2030449291/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -475.46515416234195, + -223.46620088238262, + -4.320815403071889 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -473.96515416234195, + -220.8681246710293, + -4.320815403071889 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -472.46515416234195, + -218.270048459676, + -4.320815403071889 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -470.96515416234195, + -215.67197224832267, + -4.320815403071889 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -469.46515416234195, + -213.07389603696936, + -4.320815403071889 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -467.96515416234195, + -210.47581982561604, + -4.320815403071889 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -466.46515416234195, + -207.87774361426273, + -4.320815403071889 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -464.96515416234195, + -205.2796674029094, + -4.320815403071889 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -463.46515416234195, + -202.6815911915561, + -4.320815403071889 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -461.96515416234195, + -200.08351498020278, + -4.320815403071889 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -460.46515416234195, + -197.48543876884946, + -4.320815403071889 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -458.96515416234195, + -194.88736255749615, + -4.320815403071889 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -457.46515416234195, + -192.28928634614283, + -4.320815403071889 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -455.96515416234195, + -189.69121013478951, + -4.320815403071889 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -454.46515416234195, + -187.0931339234362, + -4.320815403071889 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -452.96515416234195, + -184.49505771208288, + -4.320815403071889 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -451.46515416234195, + -181.89698150072957, + -4.320815403071889 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -449.96515416234195, + -179.29890528937625, + -4.320815403071889 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -448.46515416234195, + -176.70082907802293, + -4.320815403071889 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -446.96515416234195, + -174.10275286666962, + -4.320815403071889 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -445.46515416234195, + -171.5046766553163, + -4.320815403071889 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -445.46515416234195, + -171.5046766553163, + -4.320815403071889 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -445.46515416234195, + -168.5046766553163, + -4.320815403071889 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -445.46515416234195, + -165.5046766553163, + -4.320815403071889 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -445.46515416234195, + -162.5046766553163, + -4.320815403071889 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -445.52278427124025, + -160.4525846862793, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_16-1-15_476564285/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_16-1-15_476564285/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c02f112e4a02b03ff7641963d568e298fecaafb8 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_16-1-15_476564285/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -287.96659282807514, + -342.90520827047743, + 1.5039411705752386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -290.56466903942845, + -344.40520827047743, + 1.5039411705752386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -293.16274525078177, + -345.90520827047743, + 1.5039411705752386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -295.7608214621351, + -347.40520827047743, + 1.5039411705752386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -298.3588976734884, + -348.90520827047743, + 1.5039411705752386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -300.9569738848417, + -350.40520827047743, + 1.5039411705752386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -303.55505009619503, + -351.90520827047743, + 1.5039411705752386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -306.15312630754835, + -353.40520827047743, + 1.5039411705752386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -308.75120251890166, + -354.90520827047743, + 1.5039411705752386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -311.349278730255, + -356.40520827047743, + 1.5039411705752386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -313.9473549416083, + -357.90520827047743, + 1.5039411705752386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -316.5454311529616, + -359.40520827047743, + 1.5039411705752386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -319.1435073643149, + -360.90520827047743, + 1.5039411705752386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -321.74158357566824, + -362.40520827047743, + 1.5039411705752386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -324.33965978702156, + -363.90520827047743, + 1.5039411705752386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -326.9377359983749, + -365.40520827047743, + 1.5039411705752386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -329.5358122097282, + -366.90520827047743, + 1.5039411705752386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -332.1338884210815, + -368.40520827047743, + 1.5039411705752386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -334.7319646324348, + -369.90520827047743, + 1.5039411705752386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -337.33004084378814, + -371.40520827047743, + 1.5039411705752386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -339.92811705514146, + -372.90520827047743, + 1.5039411705752386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -342.5261932664948, + -374.40520827047743, + 1.5039411705752386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -345.1242694778481, + -375.90520827047743, + 1.5039411705752386 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -348.85303680419923, + -377.0924723815918, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_16-39-31_424238335/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_16-39-31_424238335/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0523bc861300e0f70315455e1a28164e4b9c9c66 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_16-39-31_424238335/pose.jsonl @@ -0,0 +1,287 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -538.9255260804016, + -167.22844822376516, + -3.115052399226278 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -537.4255260804016, + -169.82652443511847, + -3.115052399226278 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -535.9255260804016, + -172.4246006464718, + -3.115052399226278 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -534.4255260804016, + -175.0226768578251, + -3.115052399226278 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -532.9255260804016, + -177.62075306917842, + -3.115052399226278 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -531.4255260804016, + -180.21882928053174, + -3.115052399226278 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -529.9255260804016, + -182.81690549188505, + -3.115052399226278 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -528.4255260804016, + -185.41498170323837, + -3.115052399226278 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -526.9255260804016, + -188.01305791459168, + -3.115052399226278 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -525.4255260804016, + -190.611134125945, + -3.115052399226278 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -523.9255260804016, + -193.20921033729832, + -3.115052399226278 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -522.4255260804016, + -195.80728654865163, + -3.115052399226278 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -520.9255260804016, + -198.40536276000495, + -3.115052399226278 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -519.4255260804016, + -201.00343897135826, + -3.115052399226278 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -517.9255260804016, + -203.60151518271158, + -3.115052399226278 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -516.4255260804016, + -206.1995913940649, + -3.115052399226278 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -514.9255260804016, + -208.7976676054182, + -3.115052399226278 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -513.4255260804016, + -211.39574381677153, + -3.115052399226278 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -511.9255260804016, + -213.99382002812484, + -3.115052399226278 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -511.9255260804016, + -213.99382002812484, + -3.115052399226278 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -511.9255260804016, + -216.99382002812484, + -3.115052399226278 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -510.5901588439941, + -220.83477218627928, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_16-39-44_719885386/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_16-39-44_719885386/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6cd78835549f453741f020038b38f0223c0fdd29 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_16-39-44_719885386/pose.jsonl @@ -0,0 +1,560 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -348.77041224424147, + -288.4261859743496, + 1.2211426336937379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -350.27041224424147, + -285.8281097629963, + 1.2211426336937379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -351.77041224424147, + -283.230033551643, + 1.2211426336937379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -353.27041224424147, + -280.63195734028966, + 1.2211426336937379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -354.77041224424147, + -278.03388112893634, + 1.2211426336937379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -356.27041224424147, + -275.435804917583, + 1.2211426336937379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -357.77041224424147, + -272.8377287062297, + 1.2211426336937379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -359.27041224424147, + -270.2396524948764, + 1.2211426336937379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -360.77041224424147, + -267.6415762835231, + 1.2211426336937379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -362.27041224424147, + -265.04350007216976, + 1.2211426336937379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -363.77041224424147, + -262.44542386081645, + 1.2211426336937379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -365.27041224424147, + -259.84734764946313, + 1.2211426336937379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -366.77041224424147, + -257.2492714381098, + 1.2211426336937379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -368.27041224424147, + -254.6511952267565, + 1.2211426336937379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -369.77041224424147, + -252.05311901540318, + 1.2211426336937379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -371.27041224424147, + -249.45504280404987, + 1.2211426336937379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -372.77041224424147, + -246.85696659269655, + 1.2211426336937379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -374.27041224424147, + -244.25889038134324, + 1.2211426336937379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -375.77041224424147, + -241.66081416998992, + 1.2211426336937379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -377.27041224424147, + -239.0627379586366, + 1.2211426336937379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -378.77041224424147, + -236.4646617472833, + 1.2211426336937379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -380.27041224424147, + -233.86658553592997, + 1.2211426336937379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -381.77041224424147, + -231.26850932457666, + 1.2211426336937379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -383.27041224424147, + -228.67043311322334, + 1.2211426336937379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -384.77041224424147, + -226.07235690187002, + 1.2211426336937379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -386.27041224424147, + -223.4742806905167, + 1.2211426336937379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -387.77041224424147, + -220.8762044791634, + 1.2211426336937379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -389.27041224424147, + -218.27812826781008, + 1.2211426336937379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -390.77041224424147, + -215.68005205645676, + 1.2211426336937379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -392.27041224424147, + -213.08197584510344, + 1.2211426336937379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -393.77041224424147, + -210.48389963375013, + 1.2211426336937379 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -393.77041224424147, + -210.48389963375013, + 1.2211426336937379 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -393.77041224424147, + -207.48389963375013, + 1.2211426336937379 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -393.77041224424147, + -204.48389963375013, + 1.2211426336937379 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -393.77041224424147, + -201.48389963375013, + 1.2211426336937379 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -393.77041224424147, + -198.48389963375013, + 1.2211426336937379 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -393.77041224424147, + -195.48389963375013, + 1.2211426336937379 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -393.77041224424147, + -192.48389963375013, + 1.2211426336937379 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -393.77041224424147, + -189.48389963375013, + 1.2211426336937379 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -393.77041224424147, + -186.48389963375013, + 1.2211426336937379 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -393.77041224424147, + -183.48389963375013, + 1.2211426336937379 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -393.77041224424147, + -180.48389963375013, + 1.2211426336937379 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -395.0994828796387, + -178.58960372924804, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_16-40-53_1350490027/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_16-40-53_1350490027/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5c1ce8614d9dd68e0ad24d10c6221c4698637131 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_16-40-53_1350490027/pose.jsonl @@ -0,0 +1,586 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 327.78077709518595, + 595.0387863052345, + -2.0146221813830456 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 330.78077709518595, + 595.0387863052345, + -2.0146221813830456 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 333.78077709518595, + 595.0387863052345, + -2.0146221813830456 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 336.78077709518595, + 595.0387863052345, + -2.0146221813830456 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 339.78077709518595, + 595.0387863052345, + -2.0146221813830456 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 342.78077709518595, + 595.0387863052345, + -2.0146221813830456 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 345.78077709518595, + 595.0387863052345, + -2.0146221813830456 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 348.78077709518595, + 595.0387863052345, + -2.0146221813830456 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 351.78077709518595, + 595.0387863052345, + -2.0146221813830456 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 354.78077709518595, + 595.0387863052345, + -2.0146221813830456 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 357.78077709518595, + 595.0387863052345, + -2.0146221813830456 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 360.78077709518595, + 595.0387863052345, + -2.0146221813830456 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 363.78077709518595, + 595.0387863052345, + -2.0146221813830456 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 366.78077709518595, + 595.0387863052345, + -2.0146221813830456 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 369.78077709518595, + 595.0387863052345, + -2.0146221813830456 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 372.78077709518595, + 595.0387863052345, + -2.0146221813830456 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 375.78077709518595, + 595.0387863052345, + -2.0146221813830456 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 378.78077709518595, + 595.0387863052345, + -2.0146221813830456 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 381.78077709518595, + 595.0387863052345, + -2.0146221813830456 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 384.78077709518595, + 595.0387863052345, + -2.0146221813830456 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 387.78077709518595, + 595.0387863052345, + -2.0146221813830456 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 390.78077709518595, + 595.0387863052345, + -2.0146221813830456 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 393.78077709518595, + 595.0387863052345, + -2.0146221813830456 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 393.78077709518595, + 595.0387863052345, + -2.0146221813830456 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 393.78077709518595, + 595.0387863052345, + -2.0146221813830456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 395.28077709518595, + 592.4407100938811, + -2.0146221813830456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 396.78077709518595, + 589.8426338825277, + -2.0146221813830456 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 396.78077709518595, + 589.8426338825277, + -2.0146221813830456 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 399.37885330653927, + 588.3426338825277, + -2.0146221813830456 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 401.9769295178926, + 586.8426338825277, + -2.0146221813830456 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 404.5750057292459, + 585.3426338825277, + -2.0146221813830456 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 407.1730819405992, + 583.8426338825277, + -2.0146221813830456 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 409.77115815195253, + 582.3426338825277, + -2.0146221813830456 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 412.36923436330585, + 580.8426338825277, + -2.0146221813830456 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 414.96731057465917, + 579.3426338825277, + -2.0146221813830456 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 417.5653867860125, + 577.8426338825277, + -2.0146221813830456 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 420.1634629973658, + 576.3426338825277, + -2.0146221813830456 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 422.7615392087191, + 574.8426338825277, + -2.0146221813830456 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 425.35961542007243, + 573.3426338825277, + -2.0146221813830456 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 427.95769163142575, + 571.8426338825277, + -2.0146221813830456 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 430.55576784277906, + 570.3426338825277, + -2.0146221813830456 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 433.1538440541324, + 568.8426338825277, + -2.0146221813830456 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 435.7519202654857, + 567.3426338825277, + -2.0146221813830456 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 438.349996476839, + 565.8426338825277, + -2.0146221813830456 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 439.84950744628907, + 563.3985629272461, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_16-42-37_1540383426/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_16-42-37_1540383426/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..554385c8c0efce68829abd5a33798ec661e604c7 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_16-42-37_1540383426/pose.jsonl @@ -0,0 +1,287 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -576.9634195289487, + 484.3689530314668, + 4.055079336214192 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -579.9634195289487, + 484.3689530314668, + 4.055079336214192 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -582.9634195289487, + 484.3689530314668, + 4.055079336214192 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -585.9634195289487, + 484.3689530314668, + 4.055079336214192 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -588.9634195289487, + 484.3689530314668, + 4.055079336214192 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -591.9634195289487, + 484.3689530314668, + 4.055079336214192 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -594.9634195289487, + 484.3689530314668, + 4.055079336214192 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -597.9634195289487, + 484.3689530314668, + 4.055079336214192 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -600.9634195289487, + 484.3689530314668, + 4.055079336214192 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -603.9634195289487, + 484.3689530314668, + 4.055079336214192 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -606.9634195289487, + 484.3689530314668, + 4.055079336214192 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -609.9634195289487, + 484.3689530314668, + 4.055079336214192 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -612.9634195289487, + 484.3689530314668, + 4.055079336214192 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -615.9634195289487, + 484.3689530314668, + 4.055079336214192 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -618.9634195289487, + 484.3689530314668, + 4.055079336214192 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -621.9634195289487, + 484.3689530314668, + 4.055079336214192 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -624.9634195289487, + 484.3689530314668, + 4.055079336214192 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -627.9634195289487, + 484.3689530314668, + 4.055079336214192 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -630.9634195289487, + 484.3689530314668, + 4.055079336214192 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -633.9634195289487, + 484.3689530314668, + 4.055079336214192 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -636.9634195289487, + 484.3689530314668, + 4.055079336214192 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -639.5100476074218, + 482.8642652893066, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_16-46-22_1315634022/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_16-46-22_1315634022/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9c7372fd9b5131813717ef2c1b70ee5b5870e9fa --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_16-46-22_1315634022/pose.jsonl @@ -0,0 +1,378 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -899.8854128062014, + -14.20909699826893, + -0.8774851235202217 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -896.8854128062014, + -14.20909699826893, + -0.8774851235202217 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -893.8854128062014, + -14.20909699826893, + -0.8774851235202217 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -890.8854128062014, + -14.20909699826893, + -0.8774851235202217 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -887.8854128062014, + -14.20909699826893, + -0.8774851235202217 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -884.8854128062014, + -14.20909699826893, + -0.8774851235202217 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -881.8854128062014, + -14.20909699826893, + -0.8774851235202217 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -878.8854128062014, + -14.20909699826893, + -0.8774851235202217 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -875.8854128062014, + -14.20909699826893, + -0.8774851235202217 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -875.8854128062014, + -14.20909699826893, + -0.8774851235202217 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -873.2873365948481, + -12.70909699826893, + -0.8774851235202217 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -870.6892603834947, + -11.20909699826893, + -0.8774851235202217 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -868.0911841721413, + -9.70909699826893, + -0.8774851235202217 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -865.4931079607879, + -8.20909699826893, + -0.8774851235202217 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -862.8950317494346, + -6.7090969982689295, + -0.8774851235202217 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -860.2969555380812, + -5.2090969982689295, + -0.8774851235202217 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -857.6988793267278, + -3.7090969982689295, + -0.8774851235202217 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -855.1008031153744, + -2.2090969982689295, + -0.8774851235202217 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -852.5027269040211, + -0.7090969982689297, + -0.8774851235202217 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982893 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -852.5027269040211, + -0.7090969982689297, + -0.8774851235202217 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -851.0027269040211, + 1.8889792130843863, + -0.8774851235202217 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -851.0027269040211, + 1.8889792130843863, + -0.8774851235202217 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -848.4046506926677, + 3.388979213084386, + -0.8774851235202217 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982893 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -845.8065744813143, + 4.888979213084386, + -0.8774851235202217 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982893 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -843.208498269961, + 6.388979213084386, + -0.8774851235202217 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -840.6104220586076, + 7.888979213084386, + -0.8774851235202217 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -838.0123458472542, + 9.388979213084385, + -0.8774851235202217 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982892 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -835.4142696359008, + 10.888979213084385, + -0.8774851235202217 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982892 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -834.8437512207031, + 12.72820457458496, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_16-49-41_608413784/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_16-49-41_608413784/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9d65fe9dded622e85807d61c52cf4805a1ac22db --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_16-49-41_608413784/pose.jsonl @@ -0,0 +1,391 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -282.51243656554163, + -544.9311550182679, + 4.077535217072885 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -282.51243656554163, + -541.9311550182679, + 4.077535217072885 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -282.51243656554163, + -538.9311550182679, + 4.077535217072885 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -282.51243656554163, + -535.9311550182679, + 4.077535217072885 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -282.51243656554163, + -532.9311550182679, + 4.077535217072885 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -282.51243656554163, + -529.9311550182679, + 4.077535217072885 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -282.51243656554163, + -526.9311550182679, + 4.077535217072885 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -282.51243656554163, + -523.9311550182679, + 4.077535217072885 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -282.51243656554163, + -520.9311550182679, + 4.077535217072885 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -282.51243656554163, + -517.9311550182679, + 4.077535217072885 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -282.51243656554163, + -514.9311550182679, + 4.077535217072885 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -282.51243656554163, + -511.9311550182679, + 4.077535217072885 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -282.51243656554163, + -508.9311550182679, + 4.077535217072885 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -282.51243656554163, + -505.9311550182679, + 4.077535217072885 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -282.51243656554163, + -502.9311550182679, + 4.077535217072885 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -282.51243656554163, + -499.9311550182679, + 4.077535217072885 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -282.51243656554163, + -496.9311550182679, + 4.077535217072885 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -282.51243656554163, + -493.9311550182679, + 4.077535217072885 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -282.51243656554163, + -490.9311550182679, + 4.077535217072885 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -282.51243656554163, + -490.9311550182679, + 4.077535217072885 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -281.01243656554163, + -488.33307880691456, + 4.077535217072885 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -279.51243656554163, + -485.73500259556124, + 4.077535217072885 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -278.01243656554163, + -483.1369263842079, + 4.077535217072885 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -276.51243656554163, + -480.5388501728546, + 4.077535217072885 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -275.01243656554163, + -477.9407739615013, + 4.077535217072885 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -273.51243656554163, + -475.342697750148, + 4.077535217072885 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -272.01243656554163, + -472.74462153879466, + 4.077535217072885 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -270.51243656554163, + -470.14654532744134, + 4.077535217072885 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -269.01243656554163, + -467.54846911608803, + 4.077535217072885 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -270.6246540832519, + -464.87673126220704, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_16-52-44_137806862/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_16-52-44_137806862/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2af08798f5dab2f376d1f9e55dc08225a6035674 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_16-52-44_137806862/pose.jsonl @@ -0,0 +1,443 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -609.714685696863, + 240.3755604975387, + -4.118729007065571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -612.714685696863, + 240.3755604975387, + -4.118729007065571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -615.714685696863, + 240.3755604975387, + -4.118729007065571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -618.714685696863, + 240.3755604975387, + -4.118729007065571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -621.714685696863, + 240.3755604975387, + -4.118729007065571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -624.714685696863, + 240.3755604975387, + -4.118729007065571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -627.714685696863, + 240.3755604975387, + -4.118729007065571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -630.714685696863, + 240.3755604975387, + -4.118729007065571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -633.714685696863, + 240.3755604975387, + -4.118729007065571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -636.714685696863, + 240.3755604975387, + -4.118729007065571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -639.714685696863, + 240.3755604975387, + -4.118729007065571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -642.714685696863, + 240.3755604975387, + -4.118729007065571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -645.714685696863, + 240.3755604975387, + -4.118729007065571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -648.714685696863, + 240.3755604975387, + -4.118729007065571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -651.714685696863, + 240.3755604975387, + -4.118729007065571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -654.714685696863, + 240.3755604975387, + -4.118729007065571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -657.714685696863, + 240.3755604975387, + -4.118729007065571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -660.714685696863, + 240.3755604975387, + -4.118729007065571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -663.714685696863, + 240.3755604975387, + -4.118729007065571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -666.714685696863, + 240.3755604975387, + -4.118729007065571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -669.714685696863, + 240.3755604975387, + -4.118729007065571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -672.714685696863, + 240.3755604975387, + -4.118729007065571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -675.714685696863, + 240.3755604975387, + -4.118729007065571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -678.714685696863, + 240.3755604975387, + -4.118729007065571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -681.714685696863, + 240.3755604975387, + -4.118729007065571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -684.714685696863, + 240.3755604975387, + -4.118729007065571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -687.714685696863, + 240.3755604975387, + -4.118729007065571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -690.714685696863, + 240.3755604975387, + -4.118729007065571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -693.714685696863, + 240.3755604975387, + -4.118729007065571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -696.714685696863, + 240.3755604975387, + -4.118729007065571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -699.714685696863, + 240.3755604975387, + -4.118729007065571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -702.714685696863, + 240.3755604975387, + -4.118729007065571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -705.714685696863, + 240.3755604975387, + -4.118729007065571 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -707.2679043579102, + 238.37122535705566, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_16-55-39_1632621729/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_16-55-39_1632621729/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..be3d8689168e30271f916fd437a0d53e3fa2b569 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_16-55-39_1632621729/pose.jsonl @@ -0,0 +1,560 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 108.65181409297467, + 714.4163228807872, + 1.4800252997010919 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 105.65181409297467, + 714.4163228807872, + 1.4800252997010919 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 102.65181409297467, + 714.4163228807872, + 1.4800252997010919 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 99.65181409297467, + 714.4163228807872, + 1.4800252997010919 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 96.65181409297467, + 714.4163228807872, + 1.4800252997010919 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 93.65181409297467, + 714.4163228807872, + 1.4800252997010919 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 90.65181409297467, + 714.4163228807872, + 1.4800252997010919 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 87.65181409297467, + 714.4163228807872, + 1.4800252997010919 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 84.65181409297467, + 714.4163228807872, + 1.4800252997010919 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 81.65181409297467, + 714.4163228807872, + 1.4800252997010919 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 78.65181409297467, + 714.4163228807872, + 1.4800252997010919 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 75.65181409297467, + 714.4163228807872, + 1.4800252997010919 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 72.65181409297467, + 714.4163228807872, + 1.4800252997010919 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 69.65181409297467, + 714.4163228807872, + 1.4800252997010919 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 66.65181409297467, + 714.4163228807872, + 1.4800252997010919 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 63.651814092974675, + 714.4163228807872, + 1.4800252997010919 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 60.651814092974675, + 714.4163228807872, + 1.4800252997010919 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 57.651814092974675, + 714.4163228807872, + 1.4800252997010919 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 54.651814092974675, + 714.4163228807872, + 1.4800252997010919 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 51.651814092974675, + 714.4163228807872, + 1.4800252997010919 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 48.651814092974675, + 714.4163228807872, + 1.4800252997010919 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 45.651814092974675, + 714.4163228807872, + 1.4800252997010919 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 42.651814092974675, + 714.4163228807872, + 1.4800252997010919 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 39.651814092974675, + 714.4163228807872, + 1.4800252997010919 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 39.651814092974675, + 714.4163228807872, + 1.4800252997010919 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 37.05373788162136, + 712.9163228807872, + 1.4800252997010919 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 34.45566167026804, + 711.4163228807872, + 1.4800252997010919 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 31.857585458914727, + 709.9163228807872, + 1.4800252997010919 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 29.25950924756141, + 708.4163228807872, + 1.4800252997010919 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 26.661433036208095, + 706.9163228807872, + 1.4800252997010919 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 24.06335682485478, + 705.4163228807872, + 1.4800252997010919 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 21.465280613501463, + 703.9163228807872, + 1.4800252997010919 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 18.867204402148147, + 702.4163228807872, + 1.4800252997010919 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 16.26912819079483, + 700.9163228807872, + 1.4800252997010919 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 13.671051979441515, + 699.4163228807872, + 1.4800252997010919 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 11.072975768088199, + 697.9163228807872, + 1.4800252997010919 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 8.474899556734883, + 696.4163228807872, + 1.4800252997010919 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 5.876823345381567, + 694.9163228807872, + 1.4800252997010919 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 3.278747134028251, + 693.4163228807872, + 1.4800252997010919 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 0.6806709226749348, + 691.9163228807872, + 1.4800252997010919 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 0.6806709226749348, + 691.9163228807872, + 1.4800252997010919 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -2.319329077325065, + 691.9163228807872, + 1.4800252997010919 + ], + "type": "stop", + "value": 0, + "yaw": -3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -5.930885200500488, + 691.5702409362793, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-1-31_752392754/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-1-31_752392754/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5d5f45b9f4b7b3af391925cb9ae1675ede493e97 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-1-31_752392754/pose.jsonl @@ -0,0 +1,352 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -107.82981224230551, + -118.1720661805191, + -1.4222353618465684 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -109.32981224230551, + -115.57398996916578, + -1.4222353618465684 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -110.82981224230551, + -112.97591375781246, + -1.4222353618465684 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -112.32981224230551, + -110.37783754645915, + -1.4222353618465684 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -113.82981224230551, + -107.77976133510583, + -1.4222353618465684 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -115.32981224230551, + -105.18168512375252, + -1.4222353618465684 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -116.82981224230551, + -102.5836089123992, + -1.4222353618465684 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -118.32981224230551, + -99.98553270104588, + -1.4222353618465684 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -119.82981224230551, + -97.38745648969257, + -1.4222353618465684 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -121.32981224230551, + -94.78938027833925, + -1.4222353618465684 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -122.82981224230551, + -92.19130406698594, + -1.4222353618465684 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -124.32981224230551, + -89.59322785563262, + -1.4222353618465684 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -125.82981224230551, + -86.9951516442793, + -1.4222353618465684 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -127.32981224230551, + -84.39707543292599, + -1.4222353618465684 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -127.32981224230551, + -84.39707543292599, + -1.4222353618465684 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -129.92788845365882, + -82.89707543292599, + -1.4222353618465684 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -132.52596466501214, + -81.39707543292599, + -1.4222353618465684 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -135.12404087636546, + -79.89707543292599, + -1.4222353618465684 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -137.72211708771877, + -78.39707543292599, + -1.4222353618465684 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -140.3201932990721, + -76.89707543292599, + -1.4222353618465684 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -142.9182695104254, + -75.39707543292599, + -1.4222353618465684 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -145.51634572177872, + -73.89707543292599, + -1.4222353618465684 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -148.11442193313204, + -72.39707543292599, + -1.4222353618465684 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -150.71249814448535, + -70.89707543292599, + -1.4222353618465684 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -153.31057435583867, + -69.39707543292599, + -1.4222353618465684 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -155.90865056719198, + -67.89707543292599, + -1.4222353618465684 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -156.47577671051025, + -64.65314291000367, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-11-1_2114738097/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-11-1_2114738097/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3d9af2fa1d373598e0a8d4630ab4edc188b5a85a --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-11-1_2114738097/pose.jsonl @@ -0,0 +1,417 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -338.9597847759529, + -320.37559991733133, + -0.8825412099782213 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -338.9597847759529, + -323.37559991733133, + -0.8825412099782213 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -338.9597847759529, + -326.37559991733133, + -0.8825412099782213 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -338.9597847759529, + -329.37559991733133, + -0.8825412099782213 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -338.9597847759529, + -332.37559991733133, + -0.8825412099782213 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -338.9597847759529, + -335.37559991733133, + -0.8825412099782213 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -338.9597847759529, + -338.37559991733133, + -0.8825412099782213 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -338.9597847759529, + -341.37559991733133, + -0.8825412099782213 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -338.9597847759529, + -344.37559991733133, + -0.8825412099782213 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -338.9597847759529, + -347.37559991733133, + -0.8825412099782213 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -338.9597847759529, + -350.37559991733133, + -0.8825412099782213 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -338.9597847759529, + -353.37559991733133, + -0.8825412099782213 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -338.9597847759529, + -356.37559991733133, + -0.8825412099782213 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -338.9597847759529, + -359.37559991733133, + -0.8825412099782213 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -338.9597847759529, + -362.37559991733133, + -0.8825412099782213 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -338.9597847759529, + -365.37559991733133, + -0.8825412099782213 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -338.9597847759529, + -368.37559991733133, + -0.8825412099782213 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -338.9597847759529, + -371.37559991733133, + -0.8825412099782213 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -338.9597847759529, + -371.37559991733133, + -0.8825412099782213 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -337.4597847759529, + -373.97367612868464, + -0.8825412099782213 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -335.9597847759529, + -376.57175234003796, + -0.8825412099782213 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -334.4597847759529, + -379.1698285513913, + -0.8825412099782213 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -332.9597847759529, + -381.7679047627446, + -0.8825412099782213 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -331.4597847759529, + -384.3659809740979, + -0.8825412099782213 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -329.9597847759529, + -386.9640571854512, + -0.8825412099782213 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -328.4597847759529, + -389.56213339680454, + -0.8825412099782213 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -326.9597847759529, + -392.16020960815786, + -0.8825412099782213 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -325.4597847759529, + -394.7582858195112, + -0.8825412099782213 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -323.9597847759529, + -397.3563620308645, + -0.8825412099782213 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -322.4597847759529, + -399.9544382422178, + -0.8825412099782213 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -320.9597847759529, + -402.5525144535711, + -0.8825412099782213 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -319.6267106628418, + -403.69195602416994, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-12-49_498777856/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-12-49_498777856/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a616dc6e50be80bba5d1f9119f906b381c200d74 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-12-49_498777856/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 259.22613133267254, + 706.4098143229049, + 0.2696168256609708 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 261.82420754402585, + 704.9098143229049, + 0.2696168256609708 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 264.42228375537917, + 703.4098143229049, + 0.2696168256609708 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 267.0203599667325, + 701.9098143229049, + 0.2696168256609708 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 269.6184361780858, + 700.4098143229049, + 0.2696168256609708 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 272.2165123894391, + 698.9098143229049, + 0.2696168256609708 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 274.81458860079243, + 697.4098143229049, + 0.2696168256609708 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 277.41266481214575, + 695.9098143229049, + 0.2696168256609708 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 280.01074102349907, + 694.4098143229049, + 0.2696168256609708 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 282.6088172348524, + 692.9098143229049, + 0.2696168256609708 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 285.2068934462057, + 691.4098143229049, + 0.2696168256609708 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 287.804969657559, + 689.9098143229049, + 0.2696168256609708 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 287.804969657559, + 689.9098143229049, + 0.2696168256609708 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 289.304969657559, + 687.3117381115517, + 0.2696168256609708 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 290.804969657559, + 684.7136619001983, + 0.2696168256609708 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 292.304969657559, + 682.1155856888449, + 0.2696168256609708 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 293.804969657559, + 679.5175094774916, + 0.2696168256609708 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 295.304969657559, + 676.9194332661382, + 0.2696168256609708 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 296.804969657559, + 674.3213570547848, + 0.2696168256609708 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 296.804969657559, + 674.3213570547848, + 0.2696168256609708 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 299.40304586891233, + 672.8213570547848, + 0.2696168256609708 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 302.00112208026565, + 671.3213570547848, + 0.2696168256609708 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 304.59919829161896, + 669.8213570547848, + 0.2696168256609708 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 307.503537902832, + 668.8986363220215, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-16-38_1573363368/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-16-38_1573363368/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bcb17c58c232e4877eb1ff43a6f77bed676c97d6 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-16-38_1573363368/pose.jsonl @@ -0,0 +1,300 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 358.0018118116891, + 95.19451210733118, + 3.4597235441985887 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 356.5018118116891, + 92.59643589597786, + 3.4597235441985887 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 355.0018118116891, + 89.99835968462455, + 3.4597235441985887 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 353.5018118116891, + 87.40028347327123, + 3.4597235441985887 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 352.0018118116891, + 84.80220726191791, + 3.4597235441985887 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 350.5018118116891, + 82.2041310505646, + 3.4597235441985887 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 349.0018118116891, + 79.60605483921128, + 3.4597235441985887 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 347.5018118116891, + 77.00797862785797, + 3.4597235441985887 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 346.0018118116891, + 74.40990241650465, + 3.4597235441985887 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 346.0018118116891, + 74.40990241650465, + 3.4597235441985887 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 346.0018118116891, + 71.40990241650465, + 3.4597235441985887 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 346.0018118116891, + 68.40990241650465, + 3.4597235441985887 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 346.0018118116891, + 65.40990241650465, + 3.4597235441985887 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 346.0018118116891, + 62.40990241650465, + 3.4597235441985887 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 346.0018118116891, + 59.40990241650465, + 3.4597235441985887 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 346.0018118116891, + 56.40990241650465, + 3.4597235441985887 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 346.0018118116891, + 53.40990241650465, + 3.4597235441985887 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 346.0018118116891, + 50.40990241650465, + 3.4597235441985887 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 346.0018118116891, + 47.40990241650465, + 3.4597235441985887 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 346.0018118116891, + 44.40990241650465, + 3.4597235441985887 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 346.0018118116891, + 41.40990241650465, + 3.4597235441985887 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 346.0018118116891, + 38.40990241650465, + 3.4597235441985887 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 344.9839593505859, + 35.070869789123535, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-20-55_338888228/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-20-55_338888228/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9572cd0b895456e7e024866b04735e413b0a8e40 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-20-55_338888228/pose.jsonl @@ -0,0 +1,482 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -876.9612324184835, + -74.65293010530999, + -2.9475979466557365 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -875.4612324184835, + -72.05485389395668, + -2.9475979466557365 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -873.9612324184835, + -69.45677768260336, + -2.9475979466557365 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -872.4612324184835, + -66.85870147125004, + -2.9475979466557365 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -870.9612324184835, + -64.26062525989673, + -2.9475979466557365 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -869.4612324184835, + -61.66254904854341, + -2.9475979466557365 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -867.9612324184835, + -59.064472837190095, + -2.9475979466557365 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -866.4612324184835, + -56.46639662583678, + -2.9475979466557365 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -864.9612324184835, + -53.86832041448346, + -2.9475979466557365 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -863.4612324184835, + -51.27024420313015, + -2.9475979466557365 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -861.9612324184835, + -48.67216799177683, + -2.9475979466557365 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -860.4612324184835, + -46.074091780423515, + -2.9475979466557365 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -858.9612324184835, + -43.4760155690702, + -2.9475979466557365 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -857.4612324184835, + -40.87793935771688, + -2.9475979466557365 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -855.9612324184835, + -38.27986314636357, + -2.9475979466557365 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -854.4612324184835, + -35.68178693501025, + -2.9475979466557365 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -852.9612324184835, + -33.083710723656935, + -2.9475979466557365 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -851.4612324184835, + -30.48563451230362, + -2.9475979466557365 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -849.9612324184835, + -27.887558300950303, + -2.9475979466557365 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -848.4612324184835, + -25.289482089596987, + -2.9475979466557365 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -846.9612324184835, + -22.69140587824367, + -2.9475979466557365 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -845.4612324184835, + -20.093329666890355, + -2.9475979466557365 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -843.9612324184835, + -17.49525345553704, + -2.9475979466557365 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -842.4612324184835, + -14.897177244183723, + -2.9475979466557365 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -840.9612324184835, + -12.299101032830407, + -2.9475979466557365 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -839.4612324184835, + -9.701024821477091, + -2.9475979466557365 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -837.9612324184835, + -7.102948610123775, + -2.9475979466557365 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -836.4612324184835, + -4.504872398770459, + -2.9475979466557365 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -834.9612324184835, + -1.906796187417143, + -2.9475979466557365 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -833.4612324184835, + 0.6912800239361729, + -2.9475979466557365 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -831.9612324184835, + 3.289356235289489, + -2.9475979466557365 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -830.4612324184835, + 5.887432446642805, + -2.9475979466557365 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -828.9612324184835, + 8.485508657996121, + -2.9475979466557365 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -828.9612324184835, + 8.485508657996121, + -2.9475979466557365 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -826.3631562071303, + 9.985508657996121, + -2.9475979466557365 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -823.7650799957769, + 11.485508657996121, + -2.9475979466557365 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755983084 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -821.0513497924804, + 12.496731524467467, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-24-19_387346491/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-24-19_387346491/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ecf4b4046f251bb6a3b69f7e4968eebcdacccd24 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-24-19_387346491/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -702.2308412212031, + 313.16115335992924, + 0.6488230358274292 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -702.2308412212031, + 310.16115335992924, + 0.6488230358274292 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -702.2308412212031, + 307.16115335992924, + 0.6488230358274292 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -702.2308412212031, + 304.16115335992924, + 0.6488230358274292 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -702.2308412212031, + 301.16115335992924, + 0.6488230358274292 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -702.2308412212031, + 298.16115335992924, + 0.6488230358274292 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -702.2308412212031, + 295.16115335992924, + 0.6488230358274292 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -702.2308412212031, + 292.16115335992924, + 0.6488230358274292 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -702.2308412212031, + 289.16115335992924, + 0.6488230358274292 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -702.2308412212031, + 286.16115335992924, + 0.6488230358274292 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -702.2308412212031, + 283.16115335992924, + 0.6488230358274292 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -702.2308412212031, + 280.16115335992924, + 0.6488230358274292 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -702.2308412212031, + 277.16115335992924, + 0.6488230358274292 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -702.2308412212031, + 274.16115335992924, + 0.6488230358274292 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -702.2308412212031, + 271.16115335992924, + 0.6488230358274292 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -702.2308412212031, + 268.16115335992924, + 0.6488230358274292 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -702.2308412212031, + 265.16115335992924, + 0.6488230358274292 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -702.2308412212031, + 262.16115335992924, + 0.6488230358274292 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -702.2308412212031, + 259.16115335992924, + 0.6488230358274292 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -702.2308412212031, + 256.16115335992924, + 0.6488230358274292 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -702.2308412212031, + 253.16115335992924, + 0.6488230358274292 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -702.2308412212031, + 250.16115335992924, + 0.6488230358274292 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -702.2308412212031, + 247.16115335992924, + 0.6488230358274292 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -702.2308412212031, + 244.16115335992924, + 0.6488230358274292 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -702.2308412212031, + 241.16115335992924, + 0.6488230358274292 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -702.2308412212031, + 238.16115335992924, + 0.6488230358274292 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -702.2308412212031, + 235.16115335992924, + 0.6488230358274292 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -701.839137878418, + 232.52609245300292, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-24-49_841148365/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-24-49_841148365/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..37bfa93ad1152d02254206bbeb26dd6209751a54 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-24-49_841148365/pose.jsonl @@ -0,0 +1,521 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -727.1938420753338, + -18.03103753128434, + -3.4921240945963246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -728.6938420753338, + -15.432961319931024, + -3.4921240945963246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -730.1938420753338, + -12.834885108577708, + -3.4921240945963246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -731.6938420753338, + -10.236808897224392, + -3.4921240945963246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -733.1938420753338, + -7.6387326858710765, + -3.4921240945963246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -734.6938420753338, + -5.0406564745177604, + -3.4921240945963246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -736.1938420753338, + -2.4425802631644444, + -3.4921240945963246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -737.6938420753338, + 0.15549594818887158, + -3.4921240945963246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -739.1938420753338, + 2.7535721595421876, + -3.4921240945963246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -740.6938420753338, + 5.351648370895504, + -3.4921240945963246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -742.1938420753338, + 7.94972458224882, + -3.4921240945963246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -743.6938420753338, + 10.547800793602136, + -3.4921240945963246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -745.1938420753338, + 13.145877004955452, + -3.4921240945963246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -746.6938420753338, + 15.743953216308768, + -3.4921240945963246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -748.1938420753338, + 18.342029427662084, + -3.4921240945963246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -749.6938420753338, + 20.9401056390154, + -3.4921240945963246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -751.1938420753338, + 23.538181850368716, + -3.4921240945963246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -752.6938420753338, + 26.13625806172203, + -3.4921240945963246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -754.1938420753338, + 28.734334273075348, + -3.4921240945963246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -755.6938420753338, + 31.332410484428664, + -3.4921240945963246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -757.1938420753338, + 33.93048669578198, + -3.4921240945963246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -758.6938420753338, + 36.528562907135296, + -3.4921240945963246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -760.1938420753338, + 39.12663911848861, + -3.4921240945963246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -761.6938420753338, + 41.72471532984193, + -3.4921240945963246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -763.1938420753338, + 44.322791541195244, + -3.4921240945963246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -764.6938420753338, + 46.92086775254856, + -3.4921240945963246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -766.1938420753338, + 49.518943963901876, + -3.4921240945963246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -767.6938420753338, + 52.11702017525519, + -3.4921240945963246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -769.1938420753338, + 54.71509638660851, + -3.4921240945963246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -770.6938420753338, + 57.313172597961824, + -3.4921240945963246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -772.1938420753338, + 59.91124880931514, + -3.4921240945963246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -773.6938420753338, + 62.509325020668456, + -3.4921240945963246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -775.1938420753338, + 65.10740123202177, + -3.4921240945963246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -776.6938420753338, + 67.70547744337509, + -3.4921240945963246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -778.1938420753338, + 70.3035536547284, + -3.4921240945963246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -779.6938420753338, + 72.90162986608172, + -3.4921240945963246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -781.1938420753338, + 75.49970607743504, + -3.4921240945963246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -782.6938420753338, + 78.09778228878835, + -3.4921240945963246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -784.1938420753338, + 80.69585850014167, + -3.4921240945963246 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -785.9369680786133, + 81.05284317016601, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-31-4_2103318776/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-31-4_2103318776/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..13480eaa99077bf0e277eab90bc632d9c331b4f6 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-31-4_2103318776/pose.jsonl @@ -0,0 +1,352 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -608.0187475575498, + 182.6008946703608, + -2.5270683190770717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -605.0187475575498, + 182.6008946703608, + -2.5270683190770717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -602.0187475575498, + 182.6008946703608, + -2.5270683190770717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -599.0187475575498, + 182.6008946703608, + -2.5270683190770717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -596.0187475575498, + 182.6008946703608, + -2.5270683190770717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -593.0187475575498, + 182.6008946703608, + -2.5270683190770717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -590.0187475575498, + 182.6008946703608, + -2.5270683190770717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -587.0187475575498, + 182.6008946703608, + -2.5270683190770717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -584.0187475575498, + 182.6008946703608, + -2.5270683190770717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -581.0187475575498, + 182.6008946703608, + -2.5270683190770717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -578.0187475575498, + 182.6008946703608, + -2.5270683190770717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -575.0187475575498, + 182.6008946703608, + -2.5270683190770717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -572.0187475575498, + 182.6008946703608, + -2.5270683190770717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -569.0187475575498, + 182.6008946703608, + -2.5270683190770717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -566.0187475575498, + 182.6008946703608, + -2.5270683190770717 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -566.0187475575498, + 182.6008946703608, + -2.5270683190770717 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -566.0187475575498, + 182.6008946703608, + -2.5270683190770717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -564.5187475575498, + 185.1989708817141, + -2.5270683190770717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -563.0187475575498, + 187.79704709306742, + -2.5270683190770717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -561.5187475575498, + 190.39512330442074, + -2.5270683190770717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -560.0187475575498, + 192.99319951577405, + -2.5270683190770717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -558.5187475575498, + 195.59127572712737, + -2.5270683190770717 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -558.5187475575498, + 195.59127572712737, + -2.5270683190770717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -555.9206713461965, + 197.09127572712737, + -2.5270683190770717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -553.3225951348431, + 198.59127572712737, + -2.5270683190770717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -550.7245189234898, + 200.09127572712737, + -2.5270683190770717 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -547.9009985351562, + 200.65022193908692, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-33-59_532670688/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-33-59_532670688/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1df5ff75efa68639d9dd7682dc58c2dba06ff68d --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-33-59_532670688/pose.jsonl @@ -0,0 +1,430 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -618.9613346602926, + 281.61031738518307, + 3.781795898455938 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -621.5594108716459, + 280.11031738518307, + 3.781795898455938 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -624.1574870829993, + 278.61031738518307, + 3.781795898455938 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -626.7555632943527, + 277.11031738518307, + 3.781795898455938 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -629.353639505706, + 275.61031738518307, + 3.781795898455938 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -631.9517157170594, + 274.11031738518307, + 3.781795898455938 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -634.5497919284128, + 272.61031738518307, + 3.781795898455938 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -637.1478681397662, + 271.11031738518307, + 3.781795898455938 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -639.7459443511195, + 269.61031738518307, + 3.781795898455938 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -642.3440205624729, + 268.11031738518307, + 3.781795898455938 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -644.9420967738263, + 266.61031738518307, + 3.781795898455938 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -647.5401729851797, + 265.11031738518307, + 3.781795898455938 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -650.138249196533, + 263.61031738518307, + 3.781795898455938 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -652.7363254078864, + 262.11031738518307, + 3.781795898455938 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -655.3344016192398, + 260.61031738518307, + 3.781795898455938 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -657.9324778305931, + 259.11031738518307, + 3.781795898455938 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -660.5305540419465, + 257.61031738518307, + 3.781795898455938 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -663.1286302532999, + 256.11031738518307, + 3.781795898455938 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -665.7267064646533, + 254.61031738518307, + 3.781795898455938 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -668.3247826760066, + 253.11031738518307, + 3.781795898455938 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -670.92285888736, + 251.61031738518307, + 3.781795898455938 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -673.5209350987134, + 250.11031738518307, + 3.781795898455938 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -676.1190113100668, + 248.61031738518307, + 3.781795898455938 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -678.7170875214201, + 247.11031738518307, + 3.781795898455938 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -681.3151637327735, + 245.61031738518307, + 3.781795898455938 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -683.9132399441269, + 244.11031738518307, + 3.781795898455938 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -686.5113161554802, + 242.61031738518307, + 3.781795898455938 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -689.1093923668336, + 241.11031738518307, + 3.781795898455938 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -691.707468578187, + 239.61031738518307, + 3.781795898455938 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -694.3055447895404, + 238.11031738518307, + 3.781795898455938 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -696.9036210008937, + 236.61031738518307, + 3.781795898455938 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -699.5016972122471, + 235.11031738518307, + 3.781795898455938 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -701.839137878418, + 232.52609245300292, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-35-38_496987743/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-35-38_496987743/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6ebd7a27ab51c8346cc96005f5012fee5b6a2b07 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-35-38_496987743/pose.jsonl @@ -0,0 +1,495 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 99.22462990970814, + 699.7588455890296, + -2.806802937960854 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 96.22462990970814, + 699.7588455890296, + -2.806802937960854 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 93.22462990970814, + 699.7588455890296, + -2.806802937960854 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 90.22462990970814, + 699.7588455890296, + -2.806802937960854 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 87.22462990970814, + 699.7588455890296, + -2.806802937960854 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 84.22462990970814, + 699.7588455890296, + -2.806802937960854 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 81.22462990970814, + 699.7588455890296, + -2.806802937960854 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 78.22462990970814, + 699.7588455890296, + -2.806802937960854 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 75.22462990970814, + 699.7588455890296, + -2.806802937960854 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 72.22462990970814, + 699.7588455890296, + -2.806802937960854 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 69.22462990970814, + 699.7588455890296, + -2.806802937960854 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 66.22462990970814, + 699.7588455890296, + -2.806802937960854 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 63.22462990970814, + 699.7588455890296, + -2.806802937960854 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 60.22462990970814, + 699.7588455890296, + -2.806802937960854 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 57.22462990970814, + 699.7588455890296, + -2.806802937960854 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 54.22462990970814, + 699.7588455890296, + -2.806802937960854 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 51.22462990970814, + 699.7588455890296, + -2.806802937960854 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 48.22462990970814, + 699.7588455890296, + -2.806802937960854 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 45.22462990970814, + 699.7588455890296, + -2.806802937960854 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 42.22462990970814, + 699.7588455890296, + -2.806802937960854 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 39.22462990970814, + 699.7588455890296, + -2.806802937960854 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 36.22462990970814, + 699.7588455890296, + -2.806802937960854 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 33.22462990970814, + 699.7588455890296, + -2.806802937960854 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 30.224629909708142, + 699.7588455890296, + -2.806802937960854 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 27.224629909708142, + 699.7588455890296, + -2.806802937960854 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 24.224629909708142, + 699.7588455890296, + -2.806802937960854 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 21.224629909708142, + 699.7588455890296, + -2.806802937960854 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 18.224629909708142, + 699.7588455890296, + -2.806802937960854 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 15.224629909708142, + 699.7588455890296, + -2.806802937960854 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 12.224629909708142, + 699.7588455890296, + -2.806802937960854 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 12.224629909708142, + 699.7588455890296, + -2.806802937960854 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 9.626553698354826, + 698.2588455890296, + -2.806802937960854 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 7.02847748700151, + 696.7588455890296, + -2.806802937960854 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 4.430401275648194, + 695.2588455890296, + -2.806802937960854 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1.8323250642948778, + 693.7588455890296, + -2.806802937960854 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -0.7657511470584382, + 692.2588455890296, + -2.806802937960854 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -3.363827358411754, + 690.7588455890296, + -2.806802937960854 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -5.930885200500488, + 691.5702409362793, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-35-56_159259470/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-35-56_159259470/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4324e40994f413f13e1495b4e029cffdc46fd46b --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-35-56_159259470/pose.jsonl @@ -0,0 +1,391 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -813.98901601401, + 104.10241622319087, + 1.5529937293381382 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -812.48901601401, + 106.70049243454419, + 1.5529937293381382 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -810.98901601401, + 109.2985686458975, + 1.5529937293381382 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -809.48901601401, + 111.89664485725082, + 1.5529937293381382 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -807.98901601401, + 114.49472106860414, + 1.5529937293381382 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -806.48901601401, + 117.09279727995745, + 1.5529937293381382 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -804.98901601401, + 119.69087349131077, + 1.5529937293381382 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -803.48901601401, + 122.28894970266408, + 1.5529937293381382 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -801.98901601401, + 124.8870259140174, + 1.5529937293381382 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -800.48901601401, + 127.48510212537072, + 1.5529937293381382 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -798.98901601401, + 130.08317833672402, + 1.5529937293381382 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965954 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -797.48901601401, + 132.68125454807733, + 1.5529937293381382 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -795.98901601401, + 135.27933075943065, + 1.5529937293381382 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -794.48901601401, + 137.87740697078397, + 1.5529937293381382 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -792.98901601401, + 140.47548318213728, + 1.5529937293381382 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -791.48901601401, + 143.0735593934906, + 1.5529937293381382 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -789.98901601401, + 145.6716356048439, + 1.5529937293381382 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -788.48901601401, + 148.26971181619723, + 1.5529937293381382 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -786.98901601401, + 150.86778802755055, + 1.5529937293381382 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -785.48901601401, + 153.46586423890386, + 1.5529937293381382 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -783.98901601401, + 156.06394045025718, + 1.5529937293381382 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -782.48901601401, + 158.6620166616105, + 1.5529937293381382 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -782.48901601401, + 158.6620166616105, + 1.5529937293381382 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -782.48901601401, + 161.6620166616105, + 1.5529937293381382 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -782.48901601401, + 164.6620166616105, + 1.5529937293381382 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -782.48901601401, + 167.6620166616105, + 1.5529937293381382 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -782.48901601401, + 170.6620166616105, + 1.5529937293381382 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -782.48901601401, + 173.6620166616105, + 1.5529937293381382 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -782.48901601401, + 176.6620166616105, + 1.5529937293381382 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -779.8773458862305, + 179.3161050415039, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-39-19_722308542/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-39-19_722308542/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4ca12013497d06f205ddb6820554c94356b07935 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-39-19_722308542/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -807.0745680932491, + 239.99752866242017, + 2.076714975846617 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -805.5745680932491, + 237.39945245106685, + 2.076714975846617 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -804.0745680932491, + 234.80137623971353, + 2.076714975846617 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -802.5745680932491, + 232.20330002836022, + 2.076714975846617 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -801.0745680932491, + 229.6052238170069, + 2.076714975846617 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -799.5745680932491, + 227.00714760565359, + 2.076714975846617 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -798.0745680932491, + 224.40907139430027, + 2.076714975846617 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -796.5745680932491, + 221.81099518294695, + 2.076714975846617 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -795.0745680932491, + 219.21291897159364, + 2.076714975846617 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -793.5745680932491, + 216.61484276024032, + 2.076714975846617 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -792.0745680932491, + 214.016766548887, + 2.076714975846617 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -790.5745680932491, + 211.4186903375337, + 2.076714975846617 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -789.0745680932491, + 208.82061412618037, + 2.076714975846617 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -787.5745680932491, + 206.22253791482706, + 2.076714975846617 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -786.0745680932491, + 203.62446170347374, + 2.076714975846617 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -784.5745680932491, + 201.02638549212043, + 2.076714975846617 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -783.0745680932491, + 198.4283092807671, + 2.076714975846617 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -781.5745680932491, + 195.8302330694138, + 2.076714975846617 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -780.0745680932491, + 193.23215685806048, + 2.076714975846617 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -778.5745680932491, + 190.63408064670716, + 2.076714975846617 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -778.5745680932491, + 190.63408064670716, + 2.076714975846617 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -778.5745680932491, + 187.63408064670716, + 2.076714975846617 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -778.5745680932491, + 184.63408064670716, + 2.076714975846617 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -778.5745680932491, + 181.63408064670716, + 2.076714975846617 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -779.8773458862305, + 179.3161050415039, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-44-38_745425661/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-44-38_745425661/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fa0f2fce10b1201d84877a47419dd2260a3df5d8 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-44-38_745425661/pose.jsonl @@ -0,0 +1,521 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 253.03906748090094, + -97.68751613662232, + -1.2263386612868024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 256.03906748090094, + -97.68751613662232, + -1.2263386612868024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 259.03906748090094, + -97.68751613662232, + -1.2263386612868024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 262.03906748090094, + -97.68751613662232, + -1.2263386612868024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 265.03906748090094, + -97.68751613662232, + -1.2263386612868024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 268.03906748090094, + -97.68751613662232, + -1.2263386612868024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 271.03906748090094, + -97.68751613662232, + -1.2263386612868024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 274.03906748090094, + -97.68751613662232, + -1.2263386612868024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 277.03906748090094, + -97.68751613662232, + -1.2263386612868024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 280.03906748090094, + -97.68751613662232, + -1.2263386612868024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 283.03906748090094, + -97.68751613662232, + -1.2263386612868024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 286.03906748090094, + -97.68751613662232, + -1.2263386612868024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 289.03906748090094, + -97.68751613662232, + -1.2263386612868024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 292.03906748090094, + -97.68751613662232, + -1.2263386612868024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 295.03906748090094, + -97.68751613662232, + -1.2263386612868024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 298.03906748090094, + -97.68751613662232, + -1.2263386612868024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 301.03906748090094, + -97.68751613662232, + -1.2263386612868024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 304.03906748090094, + -97.68751613662232, + -1.2263386612868024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 307.03906748090094, + -97.68751613662232, + -1.2263386612868024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 310.03906748090094, + -97.68751613662232, + -1.2263386612868024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 313.03906748090094, + -97.68751613662232, + -1.2263386612868024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 316.03906748090094, + -97.68751613662232, + -1.2263386612868024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 319.03906748090094, + -97.68751613662232, + -1.2263386612868024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 322.03906748090094, + -97.68751613662232, + -1.2263386612868024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 325.03906748090094, + -97.68751613662232, + -1.2263386612868024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 328.03906748090094, + -97.68751613662232, + -1.2263386612868024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 331.03906748090094, + -97.68751613662232, + -1.2263386612868024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 334.03906748090094, + -97.68751613662232, + -1.2263386612868024 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 334.03906748090094, + -97.68751613662232, + -1.2263386612868024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 336.63714369225426, + -96.18751613662232, + -1.2263386612868024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 339.2352199036076, + -94.68751613662232, + -1.2263386612868024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 341.8332961149609, + -93.18751613662232, + -1.2263386612868024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 344.4313723263142, + -91.68751613662232, + -1.2263386612868024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 347.0294485376675, + -90.18751613662232, + -1.2263386612868024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 349.62752474902084, + -88.68751613662232, + -1.2263386612868024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 352.22560096037415, + -87.18751613662232, + -1.2263386612868024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 354.82367717172747, + -85.68751613662232, + -1.2263386612868024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 357.4217533830808, + -84.18751613662232, + -1.2263386612868024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 360.0198295944341, + -82.68751613662232, + -1.2263386612868024 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 361.61789932250974, + -80.46325607299805, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-56-54_1176911340/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-56-54_1176911340/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..567ddf8590fcaa086b9443514757e6c49424a77d --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-56-54_1176911340/pose.jsonl @@ -0,0 +1,404 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 150.80559941304006, + 672.587002486181, + 0.11306047532048691 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 153.80559941304006, + 672.587002486181, + 0.11306047532048691 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 156.80559941304006, + 672.587002486181, + 0.11306047532048691 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 159.80559941304006, + 672.587002486181, + 0.11306047532048691 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 162.80559941304006, + 672.587002486181, + 0.11306047532048691 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 165.80559941304006, + 672.587002486181, + 0.11306047532048691 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 168.80559941304006, + 672.587002486181, + 0.11306047532048691 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 171.80559941304006, + 672.587002486181, + 0.11306047532048691 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 174.80559941304006, + 672.587002486181, + 0.11306047532048691 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 177.80559941304006, + 672.587002486181, + 0.11306047532048691 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 180.80559941304006, + 672.587002486181, + 0.11306047532048691 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 183.80559941304006, + 672.587002486181, + 0.11306047532048691 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 186.80559941304006, + 672.587002486181, + 0.11306047532048691 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 189.80559941304006, + 672.587002486181, + 0.11306047532048691 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 192.80559941304006, + 672.587002486181, + 0.11306047532048691 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 195.80559941304006, + 672.587002486181, + 0.11306047532048691 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 198.80559941304006, + 672.587002486181, + 0.11306047532048691 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 201.80559941304006, + 672.587002486181, + 0.11306047532048691 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 204.80559941304006, + 672.587002486181, + 0.11306047532048691 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 204.80559941304006, + 672.587002486181, + 0.11306047532048691 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 204.80559941304006, + 672.587002486181, + 0.11306047532048691 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 206.30559941304006, + 675.1850786975342, + 0.11306047532048691 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 207.80559941304006, + 677.7831549088876, + 0.11306047532048691 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 209.30559941304006, + 680.381231120241, + 0.11306047532048691 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 210.80559941304006, + 682.9793073315943, + 0.11306047532048691 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 212.30559941304006, + 685.5773835429477, + 0.11306047532048691 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 212.30559941304006, + 685.5773835429477, + 0.11306047532048691 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 214.90367562439337, + 687.0773835429477, + 0.11306047532048691 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 217.5017518357467, + 688.5773835429477, + 0.11306047532048691 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 220.0998280471, + 690.0773835429477, + 0.11306047532048691 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 222.9949237060547, + 690.6306562805175, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-7-36_1687926652/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-7-36_1687926652/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8ef2825c6a64ea104f30b3304e97cc751e0316e5 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-7-36_1687926652/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -272.8704450548654, + -71.75137940496788, + 3.314523343706938 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -271.3704450548654, + -69.15330319361456, + 3.314523343706938 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -269.8704450548654, + -66.55522698226125, + 3.314523343706938 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -268.3704450548654, + -63.95715077090793, + 3.314523343706938 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -266.8704450548654, + -61.359074559554614, + 3.314523343706938 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -265.3704450548654, + -58.7609983482013, + 3.314523343706938 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -263.8704450548654, + -56.16292213684798, + 3.314523343706938 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -262.3704450548654, + -53.564845925494666, + 3.314523343706938 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -260.8704450548654, + -50.96676971414135, + 3.314523343706938 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -259.3704450548654, + -48.368693502788034, + 3.314523343706938 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -257.8704450548654, + -45.77061729143472, + 3.314523343706938 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -256.3704450548654, + -43.1725410800814, + 3.314523343706938 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -254.8704450548654, + -40.574464868728086, + 3.314523343706938 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -253.3704450548654, + -37.97638865737477, + 3.314523343706938 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -251.8704450548654, + -35.378312446021454, + 3.314523343706938 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -250.3704450548654, + -32.78023623466814, + 3.314523343706938 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -248.8704450548654, + -30.18216002331482, + 3.314523343706938 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -247.3704450548654, + -27.584083811961506, + 3.314523343706938 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -245.8704450548654, + -24.98600760060819, + 3.314523343706938 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -244.3704450548654, + -22.387931389254874, + 3.314523343706938 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -244.3704450548654, + -22.387931389254874, + 3.314523343706938 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -244.3704450548654, + -19.387931389254874, + 3.314523343706938 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -244.3704450548654, + -16.387931389254874, + 3.314523343706938 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -244.3704450548654, + -13.387931389254874, + 3.314523343706938 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -242.29689208984374, + -10.230338129997254, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-11-13_1635905385/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-11-13_1635905385/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b40e28ba6cb87324f5fb8f70f0f653fb5b92b207 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-11-13_1635905385/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -884.994975726703, + 379.58812997855546, + 0.5666450115257495 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -887.5930519380563, + 378.08812997855546, + 0.5666450115257495 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -890.1911281494097, + 376.58812997855546, + 0.5666450115257495 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -892.789204360763, + 375.08812997855546, + 0.5666450115257495 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -895.3872805721164, + 373.58812997855546, + 0.5666450115257495 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -897.9853567834698, + 372.08812997855546, + 0.5666450115257495 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -900.5834329948232, + 370.58812997855546, + 0.5666450115257495 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -903.1815092061765, + 369.08812997855546, + 0.5666450115257495 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -905.7795854175299, + 367.58812997855546, + 0.5666450115257495 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -908.3776616288833, + 366.08812997855546, + 0.5666450115257495 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -908.3776616288833, + 366.08812997855546, + 0.5666450115257495 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -911.3776616288833, + 366.08812997855546, + 0.5666450115257495 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -914.3776616288833, + 366.08812997855546, + 0.5666450115257495 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -917.3776616288833, + 366.08812997855546, + 0.5666450115257495 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -920.3776616288833, + 366.08812997855546, + 0.5666450115257495 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -923.3776616288833, + 366.08812997855546, + 0.5666450115257495 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -926.3776616288833, + 366.08812997855546, + 0.5666450115257495 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -929.3776616288833, + 366.08812997855546, + 0.5666450115257495 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -932.3776616288833, + 366.08812997855546, + 0.5666450115257495 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -935.3776616288833, + 366.08812997855546, + 0.5666450115257495 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -938.3776616288833, + 366.08812997855546, + 0.5666450115257495 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -941.3776616288833, + 366.08812997855546, + 0.5666450115257495 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -944.3776616288833, + 366.08812997855546, + 0.5666450115257495 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -947.3776616288833, + 366.08812997855546, + 0.5666450115257495 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -979.8297436523437, + 358.6925830078125, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-11-40_337739299/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-11-40_337739299/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3a6422377d3ee32cd5db9f8dbbc4c9a85d8e55eb --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-11-40_337739299/pose.jsonl @@ -0,0 +1,300 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -369.0878185309016, + 506.9140582517179, + -2.196540828213105 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -367.5878185309016, + 509.5121344630712, + -2.196540828213105 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -366.0878185309016, + 512.1102106744245, + -2.196540828213105 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -364.5878185309016, + 514.7082868857779, + -2.196540828213105 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -363.0878185309016, + 517.3063630971312, + -2.196540828213105 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -361.5878185309016, + 519.9044393084846, + -2.196540828213105 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -360.0878185309016, + 522.502515519838, + -2.196540828213105 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -358.5878185309016, + 525.1005917311913, + -2.196540828213105 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -357.0878185309016, + 527.6986679425447, + -2.196540828213105 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -355.5878185309016, + 530.2967441538981, + -2.196540828213105 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -354.0878185309016, + 532.8948203652515, + -2.196540828213105 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -352.5878185309016, + 535.4928965766048, + -2.196540828213105 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -351.0878185309016, + 538.0909727879582, + -2.196540828213105 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -349.5878185309016, + 540.6890489993116, + -2.196540828213105 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -348.0878185309016, + 543.287125210665, + -2.196540828213105 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -346.5878185309016, + 545.8852014220183, + -2.196540828213105 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -345.0878185309016, + 548.4832776333717, + -2.196540828213105 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -343.5878185309016, + 551.0813538447251, + -2.196540828213105 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -342.0878185309016, + 553.6794300560784, + -2.196540828213105 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -340.5878185309016, + 556.2775062674318, + -2.196540828213105 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -339.0878185309016, + 558.8755824787852, + -2.196540828213105 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -337.5878185309016, + 561.4736586901386, + -2.196540828213105 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -335.0891884613037, + 561.9170278930663, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-12-26_1111783898/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-12-26_1111783898/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5c9c7a4fc2a20ca60ee76793850c9abbd8a8b403 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-12-26_1111783898/pose.jsonl @@ -0,0 +1,560 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -592.8745477655872, + 159.4311119217641, + -0.7235360274131715 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -594.3745477655872, + 156.8330357104108, + -0.7235360274131715 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -595.8745477655872, + 154.23495949905748, + -0.7235360274131715 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -597.3745477655872, + 151.63688328770417, + -0.7235360274131715 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -598.8745477655872, + 149.03880707635085, + -0.7235360274131715 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -600.3745477655872, + 146.44073086499753, + -0.7235360274131715 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -601.8745477655872, + 143.84265465364422, + -0.7235360274131715 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -603.3745477655872, + 141.2445784422909, + -0.7235360274131715 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -604.8745477655872, + 138.64650223093759, + -0.7235360274131715 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -606.3745477655872, + 136.04842601958427, + -0.7235360274131715 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -607.8745477655872, + 133.45034980823095, + -0.7235360274131715 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -609.3745477655872, + 130.85227359687764, + -0.7235360274131715 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -610.8745477655872, + 128.25419738552432, + -0.7235360274131715 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -612.3745477655872, + 125.656121174171, + -0.7235360274131715 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -613.8745477655872, + 123.05804496281769, + -0.7235360274131715 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -615.3745477655872, + 120.45996875146437, + -0.7235360274131715 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -616.8745477655872, + 117.86189254011106, + -0.7235360274131715 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -618.3745477655872, + 115.26381632875774, + -0.7235360274131715 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -619.8745477655872, + 112.66574011740443, + -0.7235360274131715 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -621.3745477655872, + 110.06766390605111, + -0.7235360274131715 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -622.8745477655872, + 107.4695876946978, + -0.7235360274131715 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -624.3745477655872, + 104.87151148334448, + -0.7235360274131715 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -625.8745477655872, + 102.27343527199116, + -0.7235360274131715 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -627.3745477655872, + 99.67535906063785, + -0.7235360274131715 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -628.8745477655872, + 97.07728284928453, + -0.7235360274131715 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -630.3745477655872, + 94.47920663793121, + -0.7235360274131715 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -630.3745477655872, + 94.47920663793121, + -0.7235360274131715 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -630.3745477655872, + 91.47920663793121, + -0.7235360274131715 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -630.3745477655872, + 88.47920663793121, + -0.7235360274131715 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -630.3745477655872, + 85.47920663793121, + -0.7235360274131715 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -630.3745477655872, + 82.47920663793121, + -0.7235360274131715 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -630.3745477655872, + 79.47920663793121, + -0.7235360274131715 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -630.3745477655872, + 76.47920663793121, + -0.7235360274131715 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -630.3745477655872, + 73.47920663793121, + -0.7235360274131715 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -630.3745477655872, + 70.47920663793121, + -0.7235360274131715 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -630.3745477655872, + 67.47920663793121, + -0.7235360274131715 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -630.3745477655872, + 64.47920663793121, + -0.7235360274131715 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -630.3745477655872, + 61.47920663793121, + -0.7235360274131715 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -630.3745477655872, + 58.47920663793121, + -0.7235360274131715 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -630.3745477655872, + 55.47920663793121, + -0.7235360274131715 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -630.3745477655872, + 52.47920663793121, + -0.7235360274131715 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -630.3745477655872, + 49.47920663793121, + -0.7235360274131715 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -629.9300636291504, + 48.19314208984375, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-15-3_2114937732/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-15-3_2114937732/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..77ca438ae05ee243448ab1358672a157cabe1715 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-15-3_2114937732/pose.jsonl @@ -0,0 +1,560 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -173.39017133614476, + -302.22397902678733, + 2.5285317960622775 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -174.89017133614476, + -304.82205523814065, + 2.5285317960622775 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -176.39017133614476, + -307.42013144949397, + 2.5285317960622775 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -177.89017133614476, + -310.0182076608473, + 2.5285317960622775 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -179.39017133614476, + -312.6162838722006, + 2.5285317960622775 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -180.89017133614476, + -315.2143600835539, + 2.5285317960622775 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -182.39017133614476, + -317.81243629490723, + 2.5285317960622775 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -183.89017133614476, + -320.41051250626055, + 2.5285317960622775 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -185.39017133614476, + -323.00858871761386, + 2.5285317960622775 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -186.89017133614476, + -325.6066649289672, + 2.5285317960622775 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -188.39017133614476, + -328.2047411403205, + 2.5285317960622775 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -189.89017133614476, + -330.8028173516738, + 2.5285317960622775 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -191.39017133614476, + -333.4008935630271, + 2.5285317960622775 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -192.89017133614476, + -335.99896977438044, + 2.5285317960622775 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -194.39017133614476, + -338.59704598573376, + 2.5285317960622775 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -195.89017133614476, + -341.1951221970871, + 2.5285317960622775 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -197.39017133614476, + -343.7931984084404, + 2.5285317960622775 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -198.89017133614476, + -346.3912746197937, + 2.5285317960622775 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -200.39017133614476, + -348.989350831147, + 2.5285317960622775 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -201.89017133614476, + -351.58742704250034, + 2.5285317960622775 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -203.39017133614476, + -354.18550325385365, + 2.5285317960622775 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -204.89017133614476, + -356.78357946520697, + 2.5285317960622775 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -206.39017133614476, + -359.3816556765603, + 2.5285317960622775 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -207.89017133614476, + -361.9797318879136, + 2.5285317960622775 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -209.39017133614476, + -364.5778080992669, + 2.5285317960622775 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -210.89017133614476, + -367.17588431062023, + 2.5285317960622775 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -212.39017133614476, + -369.77396052197355, + 2.5285317960622775 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -212.39017133614476, + -369.77396052197355, + 2.5285317960622775 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -212.39017133614476, + -372.77396052197355, + 2.5285317960622775 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -212.39017133614476, + -375.77396052197355, + 2.5285317960622775 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -212.39017133614476, + -378.77396052197355, + 2.5285317960622775 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -212.39017133614476, + -381.77396052197355, + 2.5285317960622775 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -212.39017133614476, + -384.77396052197355, + 2.5285317960622775 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -212.39017133614476, + -387.77396052197355, + 2.5285317960622775 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -212.39017133614476, + -390.77396052197355, + 2.5285317960622775 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -212.39017133614476, + -393.77396052197355, + 2.5285317960622775 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -212.39017133614476, + -396.77396052197355, + 2.5285317960622775 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -212.39017133614476, + -399.77396052197355, + 2.5285317960622775 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -212.39017133614476, + -402.77396052197355, + 2.5285317960622775 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -212.39017133614476, + -405.77396052197355, + 2.5285317960622775 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -212.39017133614476, + -408.77396052197355, + 2.5285317960622775 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -212.39017133614476, + -411.77396052197355, + 2.5285317960622775 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -215.0078338623047, + -412.48035171508786, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-19-53_1857962504/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-19-53_1857962504/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..31b757dbb50c024ed497688675f48bd1b3d62e06 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-19-53_1857962504/pose.jsonl @@ -0,0 +1,443 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -91.89857796868475, + -295.56014746175316, + 0.9263311806462688 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -88.89857796868475, + -295.56014746175316, + 0.9263311806462688 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -85.89857796868475, + -295.56014746175316, + 0.9263311806462688 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -82.89857796868475, + -295.56014746175316, + 0.9263311806462688 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -82.89857796868475, + -295.56014746175316, + 0.9263311806462688 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -80.30050175733143, + -294.06014746175316, + 0.9263311806462688 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -77.70242554597812, + -292.56014746175316, + 0.9263311806462688 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -75.1043493346248, + -291.06014746175316, + 0.9263311806462688 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -72.50627312327148, + -289.56014746175316, + 0.9263311806462688 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -69.90819691191817, + -288.06014746175316, + 0.9263311806462688 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -67.31012070056485, + -286.56014746175316, + 0.9263311806462688 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -64.71204448921154, + -285.06014746175316, + 0.9263311806462688 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -62.11396827785822, + -283.56014746175316, + 0.9263311806462688 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -59.515892066504904, + -282.06014746175316, + 0.9263311806462688 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -56.91781585515159, + -280.56014746175316, + 0.9263311806462688 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -54.31973964379827, + -279.06014746175316, + 0.9263311806462688 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -51.721663432444956, + -277.56014746175316, + 0.9263311806462688 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -49.12358722109164, + -276.06014746175316, + 0.9263311806462688 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -46.525511009738324, + -274.56014746175316, + 0.9263311806462688 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -43.92743479838501, + -273.06014746175316, + 0.9263311806462688 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -41.32935858703169, + -271.56014746175316, + 0.9263311806462688 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -38.731282375678376, + -270.06014746175316, + 0.9263311806462688 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -36.13320616432506, + -268.56014746175316, + 0.9263311806462688 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -33.535129952971744, + -267.06014746175316, + 0.9263311806462688 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -30.937053741618428, + -265.56014746175316, + 0.9263311806462688 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -28.33897753026511, + -264.06014746175316, + 0.9263311806462688 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -25.740901318911796, + -262.56014746175316, + 0.9263311806462688 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -23.14282510755848, + -261.06014746175316, + 0.9263311806462688 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -20.544748896205164, + -259.56014746175316, + 0.9263311806462688 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -17.946672684851848, + -258.06014746175316, + 0.9263311806462688 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -15.348596473498532, + -256.56014746175316, + 0.9263311806462688 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -12.750520262145216, + -255.06014746175316, + 0.9263311806462688 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -10.1524440507919, + -253.56014746175316, + 0.9263311806462688 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -8.725501627922059, + -251.86730323791502, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-2-15_1057467587/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-2-15_1057467587/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2eecaaa870d932676b184a68a8eeb4f5bf1006ad --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-2-15_1057467587/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -383.4472773155963, + 521.6898080618739, + 1.6698912578098284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -380.4472773155963, + 521.6898080618739, + 1.6698912578098284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -377.4472773155963, + 521.6898080618739, + 1.6698912578098284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -374.4472773155963, + 521.6898080618739, + 1.6698912578098284 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -374.4472773155963, + 521.6898080618739, + 1.6698912578098284 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -374.4472773155963, + 521.6898080618739, + 1.6698912578098284 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -372.9472773155963, + 524.2878842732273, + 1.6698912578098284 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -371.4472773155963, + 526.8859604845807, + 1.6698912578098284 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -369.9472773155963, + 529.484036695934, + 1.6698912578098284 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -368.4472773155963, + 532.0821129072874, + 1.6698912578098284 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -366.9472773155963, + 534.6801891186408, + 1.6698912578098284 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -365.4472773155963, + 537.2782653299942, + 1.6698912578098284 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -365.4472773155963, + 537.2782653299942, + 1.6698912578098284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -362.849201104243, + 538.7782653299942, + 1.6698912578098284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -360.25112489288966, + 540.2782653299942, + 1.6698912578098284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -357.65304868153635, + 541.7782653299942, + 1.6698912578098284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -355.05497247018303, + 543.2782653299942, + 1.6698912578098284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -352.4568962588297, + 544.7782653299942, + 1.6698912578098284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -349.8588200474764, + 546.2782653299942, + 1.6698912578098284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -347.2607438361231, + 547.7782653299942, + 1.6698912578098284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -344.66266762476977, + 549.2782653299942, + 1.6698912578098284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -342.06459141341645, + 550.7782653299942, + 1.6698912578098284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -339.46651520206314, + 552.2782653299942, + 1.6698912578098284 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -339.46651520206314, + 552.2782653299942, + 1.6698912578098284 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -337.96651520206314, + 554.8763415413475, + 1.6698912578098284 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -336.46651520206314, + 557.4744177527009, + 1.6698912578098284 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -334.96651520206314, + 560.0724939640543, + 1.6698912578098284 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -335.0891884613037, + 561.9170278930663, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-2-29_1799878206/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-2-29_1799878206/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1c8fbf1ccbd6cab20f01572b6f3770b2d005b1a5 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-2-29_1799878206/pose.jsonl @@ -0,0 +1,495 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -363.2772635815523, + -278.55626097008854, + 1.1885535591010834 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -364.7772635815523, + -275.95818475873523, + 1.1885535591010834 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -366.2772635815523, + -273.3601085473819, + 1.1885535591010834 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -367.7772635815523, + -270.7620323360286, + 1.1885535591010834 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -369.2772635815523, + -268.1639561246753, + 1.1885535591010834 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -370.7772635815523, + -265.56587991332196, + 1.1885535591010834 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -372.2772635815523, + -262.96780370196865, + 1.1885535591010834 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -373.7772635815523, + -260.36972749061533, + 1.1885535591010834 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -375.2772635815523, + -257.771651279262, + 1.1885535591010834 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -376.7772635815523, + -255.1735750679087, + 1.1885535591010834 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -378.2772635815523, + -252.57549885655538, + 1.1885535591010834 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -379.7772635815523, + -249.97742264520207, + 1.1885535591010834 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -381.2772635815523, + -247.37934643384875, + 1.1885535591010834 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -382.7772635815523, + -244.78127022249544, + 1.1885535591010834 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -384.2772635815523, + -242.18319401114212, + 1.1885535591010834 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -385.7772635815523, + -239.5851177997888, + 1.1885535591010834 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -387.2772635815523, + -236.9870415884355, + 1.1885535591010834 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -388.7772635815523, + -234.38896537708217, + 1.1885535591010834 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -390.2772635815523, + -231.79088916572886, + 1.1885535591010834 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -391.7772635815523, + -229.19281295437554, + 1.1885535591010834 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -393.2772635815523, + -226.59473674302222, + 1.1885535591010834 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -393.2772635815523, + -226.59473674302222, + 1.1885535591010834 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -393.2772635815523, + -223.59473674302222, + 1.1885535591010834 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -393.2772635815523, + -220.59473674302222, + 1.1885535591010834 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -393.2772635815523, + -217.59473674302222, + 1.1885535591010834 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -393.2772635815523, + -214.59473674302222, + 1.1885535591010834 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -393.2772635815523, + -211.59473674302222, + 1.1885535591010834 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -393.2772635815523, + -208.59473674302222, + 1.1885535591010834 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -393.2772635815523, + -205.59473674302222, + 1.1885535591010834 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -393.2772635815523, + -202.59473674302222, + 1.1885535591010834 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -393.2772635815523, + -199.59473674302222, + 1.1885535591010834 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -393.2772635815523, + -196.59473674302222, + 1.1885535591010834 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -393.2772635815523, + -193.59473674302222, + 1.1885535591010834 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -393.2772635815523, + -190.59473674302222, + 1.1885535591010834 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -393.2772635815523, + -187.59473674302222, + 1.1885535591010834 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -393.2772635815523, + -184.59473674302222, + 1.1885535591010834 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -393.2772635815523, + -181.59473674302222, + 1.1885535591010834 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -395.0994828796387, + -178.58960372924804, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-22-16_114723506/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-22-16_114723506/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d231015c6c793ad5b6c5c5fbc9db74462ffec69d --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-22-16_114723506/pose.jsonl @@ -0,0 +1,508 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -455.8069075141044, + 382.6363197488546, + 4.716158603519364 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -454.3069075141044, + 385.2343959602079, + 4.716158603519364 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -452.8069075141044, + 387.8324721715612, + 4.716158603519364 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -451.3069075141044, + 390.43054838291454, + 4.716158603519364 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -449.8069075141044, + 393.02862459426785, + 4.716158603519364 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -448.3069075141044, + 395.62670080562117, + 4.716158603519364 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -446.8069075141044, + 398.2247770169745, + 4.716158603519364 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -445.3069075141044, + 400.8228532283278, + 4.716158603519364 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -443.8069075141044, + 403.4209294396811, + 4.716158603519364 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -442.3069075141044, + 406.01900565103443, + 4.716158603519364 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -440.8069075141044, + 408.61708186238775, + 4.716158603519364 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -439.3069075141044, + 411.21515807374107, + 4.716158603519364 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -437.8069075141044, + 413.8132342850944, + 4.716158603519364 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -436.3069075141044, + 416.4113104964477, + 4.716158603519364 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -434.8069075141044, + 419.009386707801, + 4.716158603519364 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -433.3069075141044, + 421.60746291915433, + 4.716158603519364 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -431.8069075141044, + 424.20553913050765, + 4.716158603519364 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -430.3069075141044, + 426.80361534186096, + 4.716158603519364 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -428.8069075141044, + 429.4016915532143, + 4.716158603519364 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -427.3069075141044, + 431.9997677645676, + 4.716158603519364 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -425.8069075141044, + 434.5978439759209, + 4.716158603519364 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -424.3069075141044, + 437.1959201872742, + 4.716158603519364 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -422.8069075141044, + 439.79399639862754, + 4.716158603519364 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -421.3069075141044, + 442.39207260998086, + 4.716158603519364 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -419.8069075141044, + 444.9901488213342, + 4.716158603519364 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -418.3069075141044, + 447.5882250326875, + 4.716158603519364 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -416.8069075141044, + 450.1863012440408, + 4.716158603519364 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -415.3069075141044, + 452.7843774553941, + 4.716158603519364 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -413.8069075141044, + 455.38245366674744, + 4.716158603519364 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -412.3069075141044, + 457.98052987810075, + 4.716158603519364 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -410.8069075141044, + 460.57860608945407, + 4.716158603519364 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -409.3069075141044, + 463.1766823008074, + 4.716158603519364 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -407.8069075141044, + 465.7747585121607, + 4.716158603519364 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -406.3069075141044, + 468.372834723514, + 4.716158603519364 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -404.8069075141044, + 470.97091093486733, + 4.716158603519364 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -403.3069075141044, + 473.56898714622065, + 4.716158603519364 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -401.8069075141044, + 476.16706335757397, + 4.716158603519364 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -400.3069075141044, + 478.7651395689273, + 4.716158603519364 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -399.08082916259764, + 479.4950012207031, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-24-49_777210498/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-24-49_777210498/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e059f8411f07aea507094bc181f31abc3a328008 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-24-49_777210498/pose.jsonl @@ -0,0 +1,443 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -416.2931945267334, + 544.9806680734469, + -0.3844580947544891 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -413.2931945267334, + 544.9806680734469, + -0.3844580947544891 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -410.2931945267334, + 544.9806680734469, + -0.3844580947544891 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -407.2931945267334, + 544.9806680734469, + -0.3844580947544891 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -404.2931945267334, + 544.9806680734469, + -0.3844580947544891 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -401.2931945267334, + 544.9806680734469, + -0.3844580947544891 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -398.2931945267334, + 544.9806680734469, + -0.3844580947544891 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -395.2931945267334, + 544.9806680734469, + -0.3844580947544891 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -392.2931945267334, + 544.9806680734469, + -0.3844580947544891 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -389.2931945267334, + 544.9806680734469, + -0.3844580947544891 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -386.2931945267334, + 544.9806680734469, + -0.3844580947544891 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -383.2931945267334, + 544.9806680734469, + -0.3844580947544891 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -380.2931945267334, + 544.9806680734469, + -0.3844580947544891 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -377.2931945267334, + 544.9806680734469, + -0.3844580947544891 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -374.2931945267334, + 544.9806680734469, + -0.3844580947544891 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -371.2931945267334, + 544.9806680734469, + -0.3844580947544891 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -368.2931945267334, + 544.9806680734469, + -0.3844580947544891 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -365.2931945267334, + 544.9806680734469, + -0.3844580947544891 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -365.2931945267334, + 544.9806680734469, + -0.3844580947544891 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -365.2931945267334, + 544.9806680734469, + -0.3844580947544891 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -363.7931945267334, + 547.5787442848002, + -0.3844580947544891 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -362.2931945267334, + 550.1768204961536, + -0.3844580947544891 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -362.2931945267334, + 550.1768204961536, + -0.3844580947544891 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -359.69511831538006, + 551.6768204961536, + -0.3844580947544891 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -357.09704210402674, + 553.1768204961536, + -0.3844580947544891 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -354.4989658926734, + 554.6768204961536, + -0.3844580947544891 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -351.9008896813201, + 556.1768204961536, + -0.3844580947544891 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -349.3028134699668, + 557.6768204961536, + -0.3844580947544891 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -346.7047372586135, + 559.1768204961536, + -0.3844580947544891 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -344.10666104726016, + 560.6768204961536, + -0.3844580947544891 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -341.50858483590685, + 562.1768204961536, + -0.3844580947544891 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -341.50858483590685, + 562.1768204961536, + -0.3844580947544891 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -338.50858483590685, + 562.1768204961536, + -0.3844580947544891 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -335.0891884613037, + 561.9170278930663, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-26-9_1309383303/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-26-9_1309383303/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..46f62b29dd1fe44f98ee955642e32d26c95a28b2 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-26-9_1309383303/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -979.7804597770399, + 422.82157440850483, + -2.3816704849568264 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -979.7804597770399, + 419.82157440850483, + -2.3816704849568264 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -979.7804597770399, + 416.82157440850483, + -2.3816704849568264 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -979.7804597770399, + 413.82157440850483, + -2.3816704849568264 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -979.7804597770399, + 410.82157440850483, + -2.3816704849568264 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -979.7804597770399, + 407.82157440850483, + -2.3816704849568264 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -979.7804597770399, + 404.82157440850483, + -2.3816704849568264 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -979.7804597770399, + 401.82157440850483, + -2.3816704849568264 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -979.7804597770399, + 398.82157440850483, + -2.3816704849568264 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -979.7804597770399, + 395.82157440850483, + -2.3816704849568264 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -979.7804597770399, + 392.82157440850483, + -2.3816704849568264 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -979.7804597770399, + 389.82157440850483, + -2.3816704849568264 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -979.7804597770399, + 386.82157440850483, + -2.3816704849568264 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -979.7804597770399, + 386.82157440850483, + -2.3816704849568264 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -981.2804597770399, + 384.2234981971515, + -2.3816704849568264 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -982.7804597770399, + 381.6254219857982, + -2.3816704849568264 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -984.2804597770399, + 379.0273457744449, + -2.3816704849568264 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -985.7804597770399, + 376.42926956309157, + -2.3816704849568264 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -987.2804597770399, + 373.83119335173825, + -2.3816704849568264 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -988.7804597770399, + 371.23311714038493, + -2.3816704849568264 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -990.2804597770399, + 368.6350409290316, + -2.3816704849568264 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -991.7804597770399, + 366.0369647176783, + -2.3816704849568264 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -993.2804597770399, + 363.438888506325, + -2.3816704849568264 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1001.9772616577148, + 339.91288177490236, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-29-21_1775473788/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-29-21_1775473788/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ed076e97985755d2e71f10f4605927d4ed046afc --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-29-21_1775473788/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -716.366991438715, + 334.3848249928743, + -0.14160329178571374 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -714.866991438715, + 331.786748781521, + -0.14160329178571374 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -713.366991438715, + 329.1886725701677, + -0.14160329178571374 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -711.866991438715, + 326.59059635881437, + -0.14160329178571374 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -710.366991438715, + 323.99252014746105, + -0.14160329178571374 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -708.866991438715, + 321.39444393610773, + -0.14160329178571374 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -707.366991438715, + 318.7963677247544, + -0.14160329178571374 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -705.866991438715, + 316.1982915134011, + -0.14160329178571374 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -704.366991438715, + 313.6002153020478, + -0.14160329178571374 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -702.866991438715, + 311.00213909069447, + -0.14160329178571374 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -701.366991438715, + 308.40406287934115, + -0.14160329178571374 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -699.866991438715, + 305.80598666798784, + -0.14160329178571374 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -698.366991438715, + 303.2079104566345, + -0.14160329178571374 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -696.866991438715, + 300.6098342452812, + -0.14160329178571374 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -695.366991438715, + 298.0117580339279, + -0.14160329178571374 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -693.866991438715, + 295.4136818225746, + -0.14160329178571374 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -692.366991438715, + 292.81560561122126, + -0.14160329178571374 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -690.866991438715, + 290.21752939986794, + -0.14160329178571374 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -689.366991438715, + 287.6194531885146, + -0.14160329178571374 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -687.866991438715, + 285.0213769771613, + -0.14160329178571374 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -687.866991438715, + 285.0213769771613, + -0.14160329178571374 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -685.2689152273617, + 283.5213769771613, + -0.14160329178571374 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -682.6708390160084, + 282.0213769771613, + -0.14160329178571374 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -680.072762804655, + 280.5213769771613, + -0.14160329178571374 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -677.4746865933016, + 279.0213769771613, + -0.14160329178571374 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -674.8766103819482, + 277.5213769771613, + -0.14160329178571374 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -672.2785341705949, + 276.0213769771613, + -0.14160329178571374 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -669.1686190795898, + 276.07490257263186, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-29-50_767066249/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-29-50_767066249/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..567199372f86b9dea18a5aba35edeef96b98d785 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-29-50_767066249/pose.jsonl @@ -0,0 +1,521 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -830.3331711758142, + 95.35686759237537, + -3.661136351691921 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -827.3331711758142, + 95.35686759237537, + -3.661136351691921 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -824.3331711758142, + 95.35686759237537, + -3.661136351691921 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -821.3331711758142, + 95.35686759237537, + -3.661136351691921 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -818.3331711758142, + 95.35686759237537, + -3.661136351691921 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -815.3331711758142, + 95.35686759237537, + -3.661136351691921 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -812.3331711758142, + 95.35686759237537, + -3.661136351691921 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -809.3331711758142, + 95.35686759237537, + -3.661136351691921 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -806.3331711758142, + 95.35686759237537, + -3.661136351691921 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -803.3331711758142, + 95.35686759237537, + -3.661136351691921 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -800.3331711758142, + 95.35686759237537, + -3.661136351691921 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -797.3331711758142, + 95.35686759237537, + -3.661136351691921 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -794.3331711758142, + 95.35686759237537, + -3.661136351691921 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -791.3331711758142, + 95.35686759237537, + -3.661136351691921 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -788.3331711758142, + 95.35686759237537, + -3.661136351691921 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -785.3331711758142, + 95.35686759237537, + -3.661136351691921 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -785.3331711758142, + 95.35686759237537, + -3.661136351691921 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -782.7350949644608, + 96.85686759237537, + -3.661136351691921 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -780.1370187531074, + 98.35686759237537, + -3.661136351691921 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -777.5389425417541, + 99.85686759237537, + -3.661136351691921 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -774.9408663304007, + 101.35686759237537, + -3.661136351691921 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -772.3427901190473, + 102.85686759237537, + -3.661136351691921 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -769.744713907694, + 104.35686759237537, + -3.661136351691921 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -767.1466376963406, + 105.85686759237537, + -3.661136351691921 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -764.5485614849872, + 107.35686759237537, + -3.661136351691921 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -761.9504852736338, + 108.85686759237537, + -3.661136351691921 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -759.3524090622805, + 110.35686759237537, + -3.661136351691921 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -756.7543328509271, + 111.85686759237537, + -3.661136351691921 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -754.1562566395737, + 113.35686759237537, + -3.661136351691921 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -751.5581804282203, + 114.85686759237537, + -3.661136351691921 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -748.960104216867, + 116.35686759237537, + -3.661136351691921 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -746.3620280055136, + 117.85686759237537, + -3.661136351691921 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -743.7639517941602, + 119.35686759237537, + -3.661136351691921 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -741.1658755828068, + 120.85686759237537, + -3.661136351691921 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -738.5677993714535, + 122.35686759237537, + -3.661136351691921 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -735.9697231601001, + 123.85686759237537, + -3.661136351691921 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -733.3716469487467, + 125.35686759237537, + -3.661136351691921 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -730.7735707373934, + 126.85686759237537, + -3.661136351691921 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -728.17549452604, + 128.35686759237535, + -3.661136351691921 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -726.8706622314453, + 130.96456672668458, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-34-25_1545032460/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-34-25_1545032460/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d674693ca8b2ed7be43d4cd2d0751be6f344bffb --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-34-25_1545032460/pose.jsonl @@ -0,0 +1,469 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -311.6015945348255, + -373.29473278230466, + 4.9540043208388145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -310.1015945348255, + -375.892808993658, + 4.9540043208388145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -308.6015945348255, + -378.4908852050113, + 4.9540043208388145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -307.1015945348255, + -381.0889614163646, + 4.9540043208388145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -305.6015945348255, + -383.6870376277179, + 4.9540043208388145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -304.1015945348255, + -386.28511383907124, + 4.9540043208388145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -302.6015945348255, + -388.88319005042456, + 4.9540043208388145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -301.1015945348255, + -391.4812662617779, + 4.9540043208388145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -299.6015945348255, + -394.0793424731312, + 4.9540043208388145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -298.1015945348255, + -396.6774186844845, + 4.9540043208388145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -296.6015945348255, + -399.2754948958378, + 4.9540043208388145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -295.1015945348255, + -401.87357110719114, + 4.9540043208388145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -293.6015945348255, + -404.47164731854446, + 4.9540043208388145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -292.1015945348255, + -407.0697235298978, + 4.9540043208388145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -290.6015945348255, + -409.6677997412511, + 4.9540043208388145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -289.1015945348255, + -412.2658759526044, + 4.9540043208388145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -287.6015945348255, + -414.8639521639577, + 4.9540043208388145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -286.1015945348255, + -417.46202837531104, + 4.9540043208388145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -284.6015945348255, + -420.06010458666435, + 4.9540043208388145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -283.1015945348255, + -422.65818079801767, + 4.9540043208388145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -281.6015945348255, + -425.256257009371, + 4.9540043208388145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -280.1015945348255, + -427.8543332207243, + 4.9540043208388145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -278.6015945348255, + -430.4524094320776, + 4.9540043208388145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -277.1015945348255, + -433.05048564343093, + 4.9540043208388145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -275.6015945348255, + -435.64856185478425, + 4.9540043208388145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -274.1015945348255, + -438.24663806613756, + 4.9540043208388145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -272.6015945348255, + -440.8447142774909, + 4.9540043208388145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -271.1015945348255, + -443.4427904888442, + 4.9540043208388145 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -271.1015945348255, + -443.4427904888442, + 4.9540043208388145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -271.1015945348255, + -446.4427904888442, + 4.9540043208388145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -271.1015945348255, + -449.4427904888442, + 4.9540043208388145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -271.1015945348255, + -452.4427904888442, + 4.9540043208388145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -271.1015945348255, + -455.4427904888442, + 4.9540043208388145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -271.1015945348255, + -458.4427904888442, + 4.9540043208388145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -271.1015945348255, + -461.4427904888442, + 4.9540043208388145 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -270.6246540832519, + -464.87673126220704, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-37-25_816504794/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-37-25_816504794/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f42f07b59c204c4c8a9058f561c3fe5df7d52bdc --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-37-25_816504794/pose.jsonl @@ -0,0 +1,443 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -645.7943718113071, + 159.65511356017902, + 0.31602125391300273 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -647.2943718113071, + 162.25318977153233, + 0.31602125391300273 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -648.7943718113071, + 164.85126598288565, + 0.31602125391300273 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -650.2943718113071, + 167.44934219423897, + 0.31602125391300273 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -651.7943718113071, + 170.04741840559228, + 0.31602125391300273 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -653.2943718113071, + 172.6454946169456, + 0.31602125391300273 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -654.7943718113071, + 175.2435708282989, + 0.31602125391300273 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -656.2943718113071, + 177.84164703965223, + 0.31602125391300273 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -657.7943718113071, + 180.43972325100555, + 0.31602125391300273 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -659.2943718113071, + 183.03779946235886, + 0.31602125391300273 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -660.7943718113071, + 185.63587567371218, + 0.31602125391300273 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -662.2943718113071, + 188.2339518850655, + 0.31602125391300273 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -663.7943718113071, + 190.8320280964188, + 0.31602125391300273 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -665.2943718113071, + 193.43010430777213, + 0.31602125391300273 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -666.7943718113071, + 196.02818051912544, + 0.31602125391300273 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -668.2943718113071, + 198.62625673047876, + 0.31602125391300273 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -669.7943718113071, + 201.22433294183207, + 0.31602125391300273 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -671.2943718113071, + 203.8224091531854, + 0.31602125391300273 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -672.7943718113071, + 206.4204853645387, + 0.31602125391300273 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -674.2943718113071, + 209.01856157589202, + 0.31602125391300273 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -675.7943718113071, + 211.61663778724534, + 0.31602125391300273 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -677.2943718113071, + 214.21471399859865, + 0.31602125391300273 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -678.7943718113071, + 216.81279020995197, + 0.31602125391300273 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -680.2943718113071, + 219.4108664213053, + 0.31602125391300273 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -680.2943718113071, + 219.4108664213053, + 0.31602125391300273 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -682.8924480226603, + 220.9108664213053, + 0.31602125391300273 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -685.4905242340137, + 222.4108664213053, + 0.31602125391300273 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -688.0886004453671, + 223.9108664213053, + 0.31602125391300273 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -690.6866766567205, + 225.4108664213053, + 0.31602125391300273 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -693.2847528680738, + 226.9108664213053, + 0.31602125391300273 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -695.8828290794272, + 228.4108664213053, + 0.31602125391300273 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -698.4809052907806, + 229.9108664213053, + 0.31602125391300273 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -701.078981502134, + 231.4108664213053, + 0.31602125391300273 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -701.839137878418, + 232.52609245300292, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-37-41_820697697/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-37-41_820697697/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..65de258d55d97c27f5b239487f85391746200bbd --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-37-41_820697697/pose.jsonl @@ -0,0 +1,183 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -979.1535298980186, + 246.77350131637877, + -3.5506748045228846 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -981.751606109372, + 248.27350131637877, + -3.5506748045228846 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -984.3496823207254, + 249.77350131637877, + -3.5506748045228846 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -986.9477585320788, + 251.27350131637877, + -3.5506748045228846 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -989.5458347434321, + 252.77350131637877, + -3.5506748045228846 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -992.1439109547855, + 254.27350131637877, + -3.5506748045228846 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -994.7419871661389, + 255.77350131637877, + -3.5506748045228846 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -997.3400633774922, + 257.27350131637877, + -3.5506748045228846 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -999.9381395888456, + 258.77350131637877, + -3.5506748045228846 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -999.9381395888456, + 258.77350131637877, + -3.5506748045228846 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -999.9381395888456, + 258.77350131637877, + -3.5506748045228846 + ], + "type": "go straight", + "value": 3, + "yaw": 1.570796326794906 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -999.9381395888456, + 261.77350131637877, + -3.5506748045228846 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -999.9381395888456, + 264.77350131637877, + -3.5506748045228846 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1041.4117810058594, + 301.62743286132815, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-38-45_1395132002/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-38-45_1395132002/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..22524320557e1856d65acfef2f42cc0d43087237 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-38-45_1395132002/pose.jsonl @@ -0,0 +1,378 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -460.28073955092907, + -219.20034512570288, + 4.2144702855587735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -457.68266333957575, + -217.70034512570288, + 4.2144702855587735 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -457.68266333957575, + -217.70034512570288, + 4.2144702855587735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -456.18266333957575, + -215.10226891434957, + 4.2144702855587735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -454.68266333957575, + -212.50419270299625, + 4.2144702855587735 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -454.68266333957575, + -212.50419270299625, + 4.2144702855587735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -452.08458712822244, + -211.00419270299625, + 4.2144702855587735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -449.4865109168691, + -209.50419270299625, + 4.2144702855587735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -446.8884347055158, + -208.00419270299625, + 4.2144702855587735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -444.2903584941625, + -206.50419270299625, + 4.2144702855587735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -441.6922822828092, + -205.00419270299625, + 4.2144702855587735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -439.09420607145586, + -203.50419270299625, + 4.2144702855587735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -436.49612986010254, + -202.00419270299625, + 4.2144702855587735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -433.8980536487492, + -200.50419270299625, + 4.2144702855587735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -431.2999774373959, + -199.00419270299625, + 4.2144702855587735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -428.7019012260426, + -197.50419270299625, + 4.2144702855587735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -426.1038250146893, + -196.00419270299625, + 4.2144702855587735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -423.50574880333596, + -194.50419270299625, + 4.2144702855587735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -420.90767259198265, + -193.00419270299625, + 4.2144702855587735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -418.30959638062933, + -191.50419270299625, + 4.2144702855587735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -415.711520169276, + -190.00419270299625, + 4.2144702855587735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -413.1134439579227, + -188.50419270299625, + 4.2144702855587735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -410.5153677465694, + -187.00419270299625, + 4.2144702855587735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -407.91729153521607, + -185.50419270299625, + 4.2144702855587735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -405.31921532386275, + -184.00419270299625, + 4.2144702855587735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -402.72113911250943, + -182.50419270299625, + 4.2144702855587735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -400.1230629011561, + -181.00419270299625, + 4.2144702855587735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -397.5249866898028, + -179.50419270299625, + 4.2144702855587735 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -395.0994828796387, + -178.58960372924804, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-40-20_669908538/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-40-20_669908538/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0a30a35bc55a4af0fe12567ebb54bec83107874d --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-40-20_669908538/pose.jsonl @@ -0,0 +1,508 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -549.3171422961507, + 313.5628835072533, + 1.94919467081189 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -549.3171422961507, + 310.5628835072533, + 1.94919467081189 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -549.3171422961507, + 307.5628835072533, + 1.94919467081189 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -549.3171422961507, + 304.5628835072533, + 1.94919467081189 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -549.3171422961507, + 301.5628835072533, + 1.94919467081189 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -549.3171422961507, + 298.5628835072533, + 1.94919467081189 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -549.3171422961507, + 295.5628835072533, + 1.94919467081189 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -549.3171422961507, + 292.5628835072533, + 1.94919467081189 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -549.3171422961507, + 289.5628835072533, + 1.94919467081189 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -549.3171422961507, + 286.5628835072533, + 1.94919467081189 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -549.3171422961507, + 283.5628835072533, + 1.94919467081189 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -549.3171422961507, + 280.5628835072533, + 1.94919467081189 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -549.3171422961507, + 277.5628835072533, + 1.94919467081189 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -549.3171422961507, + 274.5628835072533, + 1.94919467081189 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -549.3171422961507, + 271.5628835072533, + 1.94919467081189 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -549.3171422961507, + 268.5628835072533, + 1.94919467081189 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -549.3171422961507, + 265.5628835072533, + 1.94919467081189 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -549.3171422961507, + 262.5628835072533, + 1.94919467081189 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -549.3171422961507, + 259.5628835072533, + 1.94919467081189 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -549.3171422961507, + 256.5628835072533, + 1.94919467081189 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -549.3171422961507, + 253.56288350725328, + 1.94919467081189 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -549.3171422961507, + 250.56288350725328, + 1.94919467081189 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -549.3171422961507, + 247.56288350725328, + 1.94919467081189 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -549.3171422961507, + 244.56288350725328, + 1.94919467081189 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -549.3171422961507, + 241.56288350725328, + 1.94919467081189 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -549.3171422961507, + 238.56288350725328, + 1.94919467081189 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -549.3171422961507, + 235.56288350725328, + 1.94919467081189 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -549.3171422961507, + 232.56288350725328, + 1.94919467081189 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -549.3171422961507, + 229.56288350725328, + 1.94919467081189 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -549.3171422961507, + 226.56288350725328, + 1.94919467081189 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -549.3171422961507, + 223.56288350725328, + 1.94919467081189 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -549.3171422961507, + 220.56288350725328, + 1.94919467081189 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -549.3171422961507, + 217.56288350725328, + 1.94919467081189 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -549.3171422961507, + 214.56288350725328, + 1.94919467081189 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -549.3171422961507, + 211.56288350725328, + 1.94919467081189 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -549.3171422961507, + 208.56288350725328, + 1.94919467081189 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -549.3171422961507, + 205.56288350725328, + 1.94919467081189 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -549.3171422961507, + 202.56288350725328, + 1.94919467081189 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -547.9009985351562, + 200.65022193908692, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-40-38_1387036159/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-40-38_1387036159/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..987b6cbf94f1dfb7550f01a58a21b3707dcb2b87 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-40-38_1387036159/pose.jsonl @@ -0,0 +1,534 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -779.2579551927097, + 281.4080478085646, + -1.5665116920526483 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -776.2579551927097, + 281.4080478085646, + -1.5665116920526483 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -773.2579551927097, + 281.4080478085646, + -1.5665116920526483 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -770.2579551927097, + 281.4080478085646, + -1.5665116920526483 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -767.2579551927097, + 281.4080478085646, + -1.5665116920526483 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -764.2579551927097, + 281.4080478085646, + -1.5665116920526483 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -761.2579551927097, + 281.4080478085646, + -1.5665116920526483 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -758.2579551927097, + 281.4080478085646, + -1.5665116920526483 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -755.2579551927097, + 281.4080478085646, + -1.5665116920526483 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -752.2579551927097, + 281.4080478085646, + -1.5665116920526483 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -749.2579551927097, + 281.4080478085646, + -1.5665116920526483 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -746.2579551927097, + 281.4080478085646, + -1.5665116920526483 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -743.2579551927097, + 281.4080478085646, + -1.5665116920526483 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -740.2579551927097, + 281.4080478085646, + -1.5665116920526483 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -737.2579551927097, + 281.4080478085646, + -1.5665116920526483 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -734.2579551927097, + 281.4080478085646, + -1.5665116920526483 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -731.2579551927097, + 281.4080478085646, + -1.5665116920526483 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -728.2579551927097, + 281.4080478085646, + -1.5665116920526483 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -725.2579551927097, + 281.4080478085646, + -1.5665116920526483 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -722.2579551927097, + 281.4080478085646, + -1.5665116920526483 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -719.2579551927097, + 281.4080478085646, + -1.5665116920526483 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -716.2579551927097, + 281.4080478085646, + -1.5665116920526483 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -713.2579551927097, + 281.4080478085646, + -1.5665116920526483 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -710.2579551927097, + 281.4080478085646, + -1.5665116920526483 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -707.2579551927097, + 281.4080478085646, + -1.5665116920526483 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -704.2579551927097, + 281.4080478085646, + -1.5665116920526483 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -701.2579551927097, + 281.4080478085646, + -1.5665116920526483 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -698.2579551927097, + 281.4080478085646, + -1.5665116920526483 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -695.2579551927097, + 281.4080478085646, + -1.5665116920526483 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -692.2579551927097, + 281.4080478085646, + -1.5665116920526483 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -689.2579551927097, + 281.4080478085646, + -1.5665116920526483 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -686.2579551927097, + 281.4080478085646, + -1.5665116920526483 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -683.2579551927097, + 281.4080478085646, + -1.5665116920526483 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -680.2579551927097, + 281.4080478085646, + -1.5665116920526483 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -677.2579551927097, + 281.4080478085646, + -1.5665116920526483 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -674.2579551927097, + 281.4080478085646, + -1.5665116920526483 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -674.2579551927097, + 281.4080478085646, + -1.5665116920526483 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -674.2579551927097, + 281.4080478085646, + -1.5665116920526483 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -672.7579551927097, + 278.8099715972113, + -1.5665116920526483 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -671.2579551927097, + 276.211895385858, + -1.5665116920526483 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -669.1686190795898, + 276.07490257263186, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-42-20_1113502215/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-42-20_1113502215/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9922915ce6a5f61f5df91733d4b45aedf6c30377 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-42-20_1113502215/pose.jsonl @@ -0,0 +1,430 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -571.58985271049, + 127.20289083062337, + 4.128819127318421 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -574.1879289218434, + 125.70289083062337, + 4.128819127318421 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -576.7860051331968, + 124.20289083062337, + 4.128819127318421 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -579.3840813445502, + 122.70289083062337, + 4.128819127318421 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -581.9821575559035, + 121.20289083062337, + 4.128819127318421 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -584.5802337672569, + 119.70289083062337, + 4.128819127318421 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -587.1783099786103, + 118.20289083062337, + 4.128819127318421 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -589.7763861899637, + 116.70289083062337, + 4.128819127318421 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -592.374462401317, + 115.20289083062337, + 4.128819127318421 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -594.9725386126704, + 113.70289083062337, + 4.128819127318421 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -597.5706148240238, + 112.20289083062337, + 4.128819127318421 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -600.1686910353772, + 110.70289083062337, + 4.128819127318421 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -602.7667672467305, + 109.20289083062337, + 4.128819127318421 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -605.3648434580839, + 107.70289083062337, + 4.128819127318421 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -607.9629196694373, + 106.20289083062337, + 4.128819127318421 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -610.5609958807906, + 104.70289083062337, + 4.128819127318421 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -613.159072092144, + 103.20289083062337, + 4.128819127318421 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -615.7571483034974, + 101.70289083062337, + 4.128819127318421 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -618.3552245148508, + 100.20289083062337, + 4.128819127318421 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -620.9533007262041, + 98.70289083062337, + 4.128819127318421 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -623.5513769375575, + 97.20289083062337, + 4.128819127318421 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -626.1494531489109, + 95.70289083062337, + 4.128819127318421 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -628.7475293602643, + 94.20289083062337, + 4.128819127318421 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -631.3456055716176, + 92.70289083062337, + 4.128819127318421 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -633.943681782971, + 91.20289083062337, + 4.128819127318421 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -636.5417579943244, + 89.70289083062337, + 4.128819127318421 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -639.1398342056777, + 88.20289083062337, + 4.128819127318421 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -641.7379104170311, + 86.70289083062337, + 4.128819127318421 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -644.3359866283845, + 85.20289083062337, + 4.128819127318421 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -646.9340628397379, + 83.70289083062337, + 4.128819127318421 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -649.5321390510912, + 82.20289083062337, + 4.128819127318421 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -652.1302152624446, + 80.70289083062337, + 4.128819127318421 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -655.7620668029786, + 80.36062210083007, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-7-45_324763920/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-7-45_324763920/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6f19cc3c4ebdb2155bd318a9c65c9b66e363caa4 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-7-45_324763920/pose.jsonl @@ -0,0 +1,430 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 284.0494176345368, + 765.8771916499159, + 1.143388526019172 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 281.0494176345368, + 765.8771916499159, + 1.143388526019172 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 278.0494176345368, + 765.8771916499159, + 1.143388526019172 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 275.0494176345368, + 765.8771916499159, + 1.143388526019172 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 272.0494176345368, + 765.8771916499159, + 1.143388526019172 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 269.0494176345368, + 765.8771916499159, + 1.143388526019172 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 266.0494176345368, + 765.8771916499159, + 1.143388526019172 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 263.0494176345368, + 765.8771916499159, + 1.143388526019172 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 260.0494176345368, + 765.8771916499159, + 1.143388526019172 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 257.0494176345368, + 765.8771916499159, + 1.143388526019172 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 254.04941763453678, + 765.8771916499159, + 1.143388526019172 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 251.04941763453678, + 765.8771916499159, + 1.143388526019172 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 248.04941763453678, + 765.8771916499159, + 1.143388526019172 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 245.04941763453678, + 765.8771916499159, + 1.143388526019172 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 242.04941763453678, + 765.8771916499159, + 1.143388526019172 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 239.04941763453678, + 765.8771916499159, + 1.143388526019172 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 236.04941763453678, + 765.8771916499159, + 1.143388526019172 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 233.04941763453678, + 765.8771916499159, + 1.143388526019172 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 230.04941763453678, + 765.8771916499159, + 1.143388526019172 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 227.04941763453678, + 765.8771916499159, + 1.143388526019172 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 224.04941763453678, + 765.8771916499159, + 1.143388526019172 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 221.04941763453678, + 765.8771916499159, + 1.143388526019172 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 218.04941763453678, + 765.8771916499159, + 1.143388526019172 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 215.04941763453678, + 765.8771916499159, + 1.143388526019172 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 212.04941763453678, + 765.8771916499159, + 1.143388526019172 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 209.04941763453678, + 765.8771916499159, + 1.143388526019172 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 209.04941763453678, + 765.8771916499159, + 1.143388526019172 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 209.04941763453678, + 765.8771916499159, + 1.143388526019172 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 207.54941763453678, + 768.4752678612692, + 1.143388526019172 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 206.04941763453678, + 771.0733440726226, + 1.143388526019172 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 204.54941763453678, + 773.671420283976, + 1.143388526019172 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 203.04941763453678, + 776.2694964953293, + 1.143388526019172 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 201.67972503662108, + 776.560556640625, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-9-42_195740084/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-9-42_195740084/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a2ffd9b7ea6bf5e894f9527247073657a13ad254 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-9-42_195740084/pose.jsonl @@ -0,0 +1,560 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -397.17319958402624, + -214.55699739217494, + -1.3806162024169035 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -394.17319958402624, + -214.55699739217494, + -1.3806162024169035 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -391.17319958402624, + -214.55699739217494, + -1.3806162024169035 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -391.17319958402624, + -214.55699739217494, + -1.3806162024169035 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -391.17319958402624, + -214.55699739217494, + -1.3806162024169035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -389.67319958402624, + -211.95892118082162, + -1.3806162024169035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -388.17319958402624, + -209.3608449694683, + -1.3806162024169035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -386.67319958402624, + -206.762768758115, + -1.3806162024169035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -385.17319958402624, + -204.16469254676167, + -1.3806162024169035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -383.67319958402624, + -201.56661633540836, + -1.3806162024169035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -382.17319958402624, + -198.96854012405504, + -1.3806162024169035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -380.67319958402624, + -196.37046391270172, + -1.3806162024169035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -379.17319958402624, + -193.7723877013484, + -1.3806162024169035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -377.67319958402624, + -191.1743114899951, + -1.3806162024169035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -376.17319958402624, + -188.57623527864178, + -1.3806162024169035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -374.67319958402624, + -185.97815906728846, + -1.3806162024169035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -373.17319958402624, + -183.38008285593514, + -1.3806162024169035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -371.67319958402624, + -180.78200664458183, + -1.3806162024169035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -370.17319958402624, + -178.1839304332285, + -1.3806162024169035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -368.67319958402624, + -175.5858542218752, + -1.3806162024169035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -367.17319958402624, + -172.98777801052188, + -1.3806162024169035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -365.67319958402624, + -170.38970179916856, + -1.3806162024169035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -364.17319958402624, + -167.79162558781525, + -1.3806162024169035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -362.67319958402624, + -165.19354937646193, + -1.3806162024169035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -361.17319958402624, + -162.59547316510861, + -1.3806162024169035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -359.67319958402624, + -159.9973969537553, + -1.3806162024169035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -358.17319958402624, + -157.39932074240198, + -1.3806162024169035 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -358.17319958402624, + -157.39932074240198, + -1.3806162024169035 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -355.5751233726729, + -155.89932074240198, + -1.3806162024169035 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -352.9770471613196, + -154.39932074240198, + -1.3806162024169035 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -350.3789709499663, + -152.89932074240198, + -1.3806162024169035 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -347.780894738613, + -151.39932074240198, + -1.3806162024169035 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -345.18281852725966, + -149.89932074240198, + -1.3806162024169035 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -342.58474231590634, + -148.39932074240198, + -1.3806162024169035 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -339.986666104553, + -146.89932074240198, + -1.3806162024169035 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -337.3885898931997, + -145.39932074240198, + -1.3806162024169035 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -334.7905136818464, + -143.89932074240198, + -1.3806162024169035 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -332.1924374704931, + -142.39932074240198, + -1.3806162024169035 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -329.59436125913976, + -140.89932074240198, + -1.3806162024169035 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -329.59436125913976, + -140.89932074240198, + -1.3806162024169035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -328.09436125913976, + -138.30124453104867, + -1.3806162024169035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -326.59436125913976, + -135.70316831969535, + -1.3806162024169035 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -323.98753799438475, + -133.34803604125977, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-0-56_1874799051/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-0-56_1874799051/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..99453111a0bbd811bbc1d51a9ec10ff1f06510e0 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-0-56_1874799051/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -618.6556690586854, + -293.67497635506055, + 2.8714268680891326 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -615.6556690586854, + -293.67497635506055, + 2.8714268680891326 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -612.6556690586854, + -293.67497635506055, + 2.8714268680891326 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -609.6556690586854, + -293.67497635506055, + 2.8714268680891326 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -606.6556690586854, + -293.67497635506055, + 2.8714268680891326 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -603.6556690586854, + -293.67497635506055, + 2.8714268680891326 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -600.6556690586854, + -293.67497635506055, + 2.8714268680891326 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -597.6556690586854, + -293.67497635506055, + 2.8714268680891326 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -594.6556690586854, + -293.67497635506055, + 2.8714268680891326 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -591.6556690586854, + -293.67497635506055, + 2.8714268680891326 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -588.6556690586854, + -293.67497635506055, + 2.8714268680891326 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -585.6556690586854, + -293.67497635506055, + 2.8714268680891326 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -582.6556690586854, + -293.67497635506055, + 2.8714268680891326 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -579.6556690586854, + -293.67497635506055, + 2.8714268680891326 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -576.6556690586854, + -293.67497635506055, + 2.8714268680891326 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -576.6556690586854, + -293.67497635506055, + 2.8714268680891326 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -574.057592847332, + -295.17497635506055, + 2.8714268680891326 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -571.4595166359786, + -296.67497635506055, + 2.8714268680891326 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -568.8614404246252, + -298.17497635506055, + 2.8714268680891326 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -566.2633642132719, + -299.67497635506055, + 2.8714268680891326 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -563.6652880019185, + -301.17497635506055, + 2.8714268680891326 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -561.0672117905651, + -302.67497635506055, + 2.8714268680891326 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -558.4691355792118, + -304.17497635506055, + 2.8714268680891326 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -555.8710593678584, + -305.67497635506055, + 2.8714268680891326 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -553.272983156505, + -307.17497635506055, + 2.8714268680891326 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -550.6749069451516, + -308.67497635506055, + 2.8714268680891326 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -548.0768307337983, + -310.17497635506055, + 2.8714268680891326 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -545.8660174560547, + -312.8632476806641, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-10-27_1376035217/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-10-27_1376035217/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8a9ad115ff429bc8f31792595f212ca15f78e369 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-10-27_1376035217/pose.jsonl @@ -0,0 +1,521 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -719.2696769487821, + 5.5472509075905805, + 4.152722121168166 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -717.7696769487821, + 8.145327118943896, + 4.152722121168166 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -716.2696769487821, + 10.743403330297213, + 4.152722121168166 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -714.7696769487821, + 13.341479541650529, + 4.152722121168166 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -713.2696769487821, + 15.939555753003845, + 4.152722121168166 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -711.7696769487821, + 18.53763196435716, + 4.152722121168166 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -710.2696769487821, + 21.135708175710477, + 4.152722121168166 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -708.7696769487821, + 23.733784387063793, + 4.152722121168166 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -707.2696769487821, + 26.33186059841711, + 4.152722121168166 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -705.7696769487821, + 28.929936809770425, + 4.152722121168166 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -704.2696769487821, + 31.52801302112374, + 4.152722121168166 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -702.7696769487821, + 34.12608923247706, + 4.152722121168166 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -701.2696769487821, + 36.72416544383037, + 4.152722121168166 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -699.7696769487821, + 39.32224165518369, + 4.152722121168166 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -698.2696769487821, + 41.920317866537005, + 4.152722121168166 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -696.7696769487821, + 44.51839407789032, + 4.152722121168166 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -695.2696769487821, + 47.11647028924364, + 4.152722121168166 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -693.7696769487821, + 49.71454650059695, + 4.152722121168166 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -692.2696769487821, + 52.31262271195027, + 4.152722121168166 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -690.7696769487821, + 54.910698923303585, + 4.152722121168166 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -689.2696769487821, + 57.5087751346569, + 4.152722121168166 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -687.7696769487821, + 60.10685134601022, + 4.152722121168166 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -686.2696769487821, + 62.70492755736353, + 4.152722121168166 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -684.7696769487821, + 65.30300376871685, + 4.152722121168166 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -683.2696769487821, + 67.90107998007016, + 4.152722121168166 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -681.7696769487821, + 70.49915619142348, + 4.152722121168166 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -681.7696769487821, + 70.49915619142348, + 4.152722121168166 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -681.7696769487821, + 73.49915619142348, + 4.152722121168166 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -681.7696769487821, + 76.49915619142348, + 4.152722121168166 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -681.7696769487821, + 79.49915619142348, + 4.152722121168166 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -681.7696769487821, + 82.49915619142348, + 4.152722121168166 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -681.7696769487821, + 85.49915619142348, + 4.152722121168166 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -681.7696769487821, + 88.49915619142348, + 4.152722121168166 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -681.7696769487821, + 91.49915619142348, + 4.152722121168166 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -681.7696769487821, + 94.49915619142348, + 4.152722121168166 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -681.7696769487821, + 97.49915619142348, + 4.152722121168166 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -681.7696769487821, + 100.49915619142348, + 4.152722121168166 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -681.7696769487821, + 103.49915619142348, + 4.152722121168166 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -681.7696769487821, + 106.49915619142348, + 4.152722121168166 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -682.7478131103516, + 107.50352409362793, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-14-0_716334471/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-14-0_716334471/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..faa1dba94189a294867922e51eb9a19ebcf90ddb --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-14-0_716334471/pose.jsonl @@ -0,0 +1,430 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -482.7359294604753, + 433.1440928567343, + -2.1965209920776263 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -480.137853249122, + 434.6440928567343, + -2.1965209920776263 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -477.53977703776866, + 436.1440928567343, + -2.1965209920776263 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -474.94170082641534, + 437.6440928567343, + -2.1965209920776263 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -472.343624615062, + 439.1440928567343, + -2.1965209920776263 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -469.7455484037087, + 440.6440928567343, + -2.1965209920776263 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -467.1474721923554, + 442.1440928567343, + -2.1965209920776263 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -464.5493959810021, + 443.6440928567343, + -2.1965209920776263 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -461.95131976964876, + 445.1440928567343, + -2.1965209920776263 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -459.35324355829545, + 446.6440928567343, + -2.1965209920776263 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -456.75516734694213, + 448.1440928567343, + -2.1965209920776263 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -454.1570911355888, + 449.6440928567343, + -2.1965209920776263 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -451.5590149242355, + 451.1440928567343, + -2.1965209920776263 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -448.9609387128822, + 452.6440928567343, + -2.1965209920776263 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -446.36286250152887, + 454.1440928567343, + -2.1965209920776263 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -443.76478629017555, + 455.6440928567343, + -2.1965209920776263 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -441.16671007882223, + 457.1440928567343, + -2.1965209920776263 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -438.5686338674689, + 458.6440928567343, + -2.1965209920776263 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -435.9705576561156, + 460.1440928567343, + -2.1965209920776263 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -433.3724814447623, + 461.6440928567343, + -2.1965209920776263 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -430.77440523340897, + 463.1440928567343, + -2.1965209920776263 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -428.17632902205565, + 464.6440928567343, + -2.1965209920776263 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -425.57825281070234, + 466.1440928567343, + -2.1965209920776263 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -422.980176599349, + 467.6440928567343, + -2.1965209920776263 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -420.3821003879957, + 469.1440928567343, + -2.1965209920776263 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -417.7840241766424, + 470.6440928567343, + -2.1965209920776263 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -415.1859479652891, + 472.1440928567343, + -2.1965209920776263 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -412.58787175393576, + 473.6440928567343, + -2.1965209920776263 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -409.98979554258244, + 475.1440928567343, + -2.1965209920776263 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -407.3917193312291, + 476.6440928567343, + -2.1965209920776263 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -404.7936431198758, + 478.1440928567343, + -2.1965209920776263 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -402.1955669085225, + 479.6440928567343, + -2.1965209920776263 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -399.08082916259764, + 479.4950012207031, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-15-39_1899058025/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-15-39_1899058025/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5a273791a74553bd01f6b375303e492dd72792f9 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-15-39_1899058025/pose.jsonl @@ -0,0 +1,469 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -636.4412796644663, + 180.99822935416796, + 0.8355209041375788 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -639.0393558758196, + 179.49822935416796, + 0.8355209041375788 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -641.637432087173, + 177.99822935416796, + 0.8355209041375788 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -644.2355082985264, + 176.49822935416796, + 0.8355209041375788 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -646.8335845098798, + 174.99822935416796, + 0.8355209041375788 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -649.4316607212331, + 173.49822935416796, + 0.8355209041375788 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -652.0297369325865, + 171.99822935416796, + 0.8355209041375788 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -654.6278131439399, + 170.49822935416796, + 0.8355209041375788 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -657.2258893552932, + 168.99822935416796, + 0.8355209041375788 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -659.8239655666466, + 167.49822935416796, + 0.8355209041375788 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -662.422041778, + 165.99822935416796, + 0.8355209041375788 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -665.0201179893534, + 164.49822935416796, + 0.8355209041375788 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -667.6181942007067, + 162.99822935416796, + 0.8355209041375788 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -670.2162704120601, + 161.49822935416796, + 0.8355209041375788 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -672.8143466234135, + 159.99822935416796, + 0.8355209041375788 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -675.4124228347669, + 158.49822935416796, + 0.8355209041375788 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -678.0104990461202, + 156.99822935416796, + 0.8355209041375788 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -680.6085752574736, + 155.49822935416796, + 0.8355209041375788 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -683.206651468827, + 153.99822935416796, + 0.8355209041375788 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -685.8047276801803, + 152.49822935416796, + 0.8355209041375788 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -688.4028038915337, + 150.99822935416796, + 0.8355209041375788 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -691.0008801028871, + 149.49822935416796, + 0.8355209041375788 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -693.5989563142405, + 147.99822935416796, + 0.8355209041375788 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -696.1970325255938, + 146.49822935416796, + 0.8355209041375788 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -698.7951087369472, + 144.99822935416796, + 0.8355209041375788 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -701.3931849483006, + 143.49822935416796, + 0.8355209041375788 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -703.991261159654, + 141.99822935416796, + 0.8355209041375788 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -706.5893373710073, + 140.49822935416796, + 0.8355209041375788 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -709.1874135823607, + 138.99822935416796, + 0.8355209041375788 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -711.7854897937141, + 137.49822935416796, + 0.8355209041375788 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -714.3835660050675, + 135.99822935416796, + 0.8355209041375788 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -716.9816422164208, + 134.49822935416796, + 0.8355209041375788 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -719.5797184277742, + 132.99822935416796, + 0.8355209041375788 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -722.1777946391276, + 131.49822935416796, + 0.8355209041375788 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -724.7758708504809, + 129.99822935416796, + 0.8355209041375788 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -726.8706622314453, + 130.96456672668458, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-17-30_553160358/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-17-30_553160358/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1f05cfea57ffa5d29f244fb6c5d4ad5aae10e873 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-17-30_553160358/pose.jsonl @@ -0,0 +1,443 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -874.1889077136126, + -65.60735187250134, + 1.1346128093554109 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -872.6889077136126, + -63.009275661148024, + 1.1346128093554109 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -871.1889077136126, + -60.41119944979471, + 1.1346128093554109 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -869.6889077136126, + -57.81312323844139, + 1.1346128093554109 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -868.1889077136126, + -55.215047027088076, + 1.1346128093554109 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -866.6889077136126, + -52.61697081573476, + 1.1346128093554109 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -865.1889077136126, + -50.018894604381444, + 1.1346128093554109 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -863.6889077136126, + -47.42081839302813, + 1.1346128093554109 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -862.1889077136126, + -44.82274218167481, + 1.1346128093554109 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -860.6889077136126, + -42.224665970321496, + 1.1346128093554109 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -859.1889077136126, + -39.62658975896818, + 1.1346128093554109 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -857.6889077136126, + -37.028513547614864, + 1.1346128093554109 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -856.1889077136126, + -34.43043733626155, + 1.1346128093554109 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -854.6889077136126, + -31.832361124908232, + 1.1346128093554109 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -853.1889077136126, + -29.234284913554916, + 1.1346128093554109 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -851.6889077136126, + -26.6362087022016, + 1.1346128093554109 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -850.1889077136126, + -24.038132490848284, + 1.1346128093554109 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -848.6889077136126, + -21.440056279494968, + 1.1346128093554109 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -847.1889077136126, + -18.841980068141652, + 1.1346128093554109 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -845.6889077136126, + -16.243903856788336, + 1.1346128093554109 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -844.1889077136126, + -13.64582764543502, + 1.1346128093554109 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -842.6889077136126, + -11.047751434081704, + 1.1346128093554109 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -841.1889077136126, + -8.449675222728388, + 1.1346128093554109 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -839.6889077136126, + -5.851599011375072, + 1.1346128093554109 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -838.1889077136126, + -3.2535228000217558, + 1.1346128093554109 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -836.6889077136126, + -0.6554465886684397, + 1.1346128093554109 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -835.1889077136126, + 1.9426296226848763, + 1.1346128093554109 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -833.6889077136126, + 4.540705834038192, + 1.1346128093554109 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -833.6889077136126, + 4.540705834038192, + 1.1346128093554109 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -831.0908315022593, + 6.040705834038192, + 1.1346128093554109 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -828.492755290906, + 7.540705834038192, + 1.1346128093554109 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -825.8946790795526, + 9.040705834038192, + 1.1346128093554109 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -823.2966028681992, + 10.540705834038192, + 1.1346128093554109 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -821.0513497924804, + 12.496731524467467, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-19-34_410228794/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-19-34_410228794/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..748d12f0c16c7ed8a8d3a375889cea2a2d8b0116 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-19-34_410228794/pose.jsonl @@ -0,0 +1,508 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 385.7002578588828, + 47.06962007545314, + 3.6761649259307507 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 388.7002578588828, + 47.06962007545314, + 3.6761649259307507 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 391.7002578588828, + 47.06962007545314, + 3.6761649259307507 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 394.7002578588828, + 47.06962007545314, + 3.6761649259307507 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 397.7002578588828, + 47.06962007545314, + 3.6761649259307507 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 400.7002578588828, + 47.06962007545314, + 3.6761649259307507 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 403.7002578588828, + 47.06962007545314, + 3.6761649259307507 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 406.7002578588828, + 47.06962007545314, + 3.6761649259307507 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 409.7002578588828, + 47.06962007545314, + 3.6761649259307507 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 412.7002578588828, + 47.06962007545314, + 3.6761649259307507 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 415.7002578588828, + 47.06962007545314, + 3.6761649259307507 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 418.7002578588828, + 47.06962007545314, + 3.6761649259307507 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 421.7002578588828, + 47.06962007545314, + 3.6761649259307507 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 424.7002578588828, + 47.06962007545314, + 3.6761649259307507 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 427.7002578588828, + 47.06962007545314, + 3.6761649259307507 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 430.7002578588828, + 47.06962007545314, + 3.6761649259307507 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 433.7002578588828, + 47.06962007545314, + 3.6761649259307507 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 436.7002578588828, + 47.06962007545314, + 3.6761649259307507 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 436.7002578588828, + 47.06962007545314, + 3.6761649259307507 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 436.7002578588828, + 47.06962007545314, + 3.6761649259307507 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 438.2002578588828, + 44.47154386409982, + 3.6761649259307507 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 439.7002578588828, + 41.873467652746506, + 3.6761649259307507 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 441.2002578588828, + 39.27539144139319, + 3.6761649259307507 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 441.2002578588828, + 39.27539144139319, + 3.6761649259307507 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 443.79833407023614, + 37.77539144139319, + 3.6761649259307507 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 446.39641028158945, + 36.27539144139319, + 3.6761649259307507 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 448.99448649294277, + 34.77539144139319, + 3.6761649259307507 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 451.5925627042961, + 33.27539144139319, + 3.6761649259307507 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 454.1906389156494, + 31.77539144139319, + 3.6761649259307507 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 456.7887151270027, + 30.27539144139319, + 3.6761649259307507 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 459.38679133835603, + 28.77539144139319, + 3.6761649259307507 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 461.98486754970935, + 27.27539144139319, + 3.6761649259307507 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 464.58294376106267, + 25.77539144139319, + 3.6761649259307507 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 467.181019972416, + 24.27539144139319, + 3.6761649259307507 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 469.7790961837693, + 22.77539144139319, + 3.6761649259307507 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 472.3771723951226, + 21.27539144139319, + 3.6761649259307507 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 474.97524860647593, + 19.77539144139319, + 3.6761649259307507 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 477.57332481782925, + 18.27539144139319, + 3.6761649259307507 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 481.2035136413574, + 19.23793586730957, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-2-27_1156541312/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-2-27_1156541312/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3f49ff0f06d075f753293b8e89e630070644a092 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-2-27_1156541312/pose.jsonl @@ -0,0 +1,352 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 193.07117410462666, + -233.82385144651613, + -2.545413939696916 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 191.57117410462666, + -236.42192765786945, + -2.545413939696916 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 190.07117410462666, + -239.02000386922276, + -2.545413939696916 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 188.57117410462666, + -241.61808008057608, + -2.545413939696916 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 187.07117410462666, + -244.2161562919294, + -2.545413939696916 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 185.57117410462666, + -246.8142325032827, + -2.545413939696916 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 184.07117410462666, + -249.41230871463603, + -2.545413939696916 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 182.57117410462666, + -252.01038492598934, + -2.545413939696916 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 181.07117410462666, + -254.60846113734266, + -2.545413939696916 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 179.57117410462666, + -257.206537348696, + -2.545413939696916 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 178.07117410462666, + -259.8046135600493, + -2.545413939696916 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 176.57117410462666, + -262.4026897714026, + -2.545413939696916 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 175.07117410462666, + -265.0007659827559, + -2.545413939696916 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 173.57117410462666, + -267.59884219410924, + -2.545413939696916 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 172.07117410462666, + -270.19691840546255, + -2.545413939696916 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 170.57117410462666, + -272.79499461681587, + -2.545413939696916 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 169.07117410462666, + -275.3930708281692, + -2.545413939696916 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 167.57117410462666, + -277.9911470395225, + -2.545413939696916 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 166.07117410462666, + -280.5892232508758, + -2.545413939696916 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 164.57117410462666, + -283.18729946222913, + -2.545413939696916 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 163.07117410462666, + -285.78537567358245, + -2.545413939696916 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 161.57117410462666, + -288.38345188493577, + -2.545413939696916 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 160.07117410462666, + -290.9815280962891, + -2.545413939696916 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 158.57117410462666, + -293.5796043076424, + -2.545413939696916 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 157.07117410462666, + -296.1776805189957, + -2.545413939696916 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 155.57117410462666, + -298.77575673034903, + -2.545413939696916 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 156.50516716003418, + -301.9973617553711, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-21-57_802205057/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-21-57_802205057/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..17a17ab30e310534619ee7c1aebe7faddfbbcf9c --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-21-57_802205057/pose.jsonl @@ -0,0 +1,430 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -459.79798363449027, + -285.036920179087, + -3.9910739350760727 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -462.3960598458436, + -286.536920179087, + -3.9910739350760727 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -464.9941360571969, + -288.036920179087, + -3.9910739350760727 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -467.5922122685502, + -289.536920179087, + -3.9910739350760727 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -470.19028847990353, + -291.036920179087, + -3.9910739350760727 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -472.78836469125685, + -292.536920179087, + -3.9910739350760727 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -475.38644090261016, + -294.036920179087, + -3.9910739350760727 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -477.9845171139635, + -295.536920179087, + -3.9910739350760727 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -480.5825933253168, + -297.036920179087, + -3.9910739350760727 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -483.1806695366701, + -298.536920179087, + -3.9910739350760727 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -485.7787457480234, + -300.036920179087, + -3.9910739350760727 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -488.37682195937674, + -301.536920179087, + -3.9910739350760727 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -490.97489817073006, + -303.036920179087, + -3.9910739350760727 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -493.5729743820834, + -304.536920179087, + -3.9910739350760727 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -496.1710505934367, + -306.036920179087, + -3.9910739350760727 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -498.76912680479, + -307.536920179087, + -3.9910739350760727 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -501.3672030161433, + -309.036920179087, + -3.9910739350760727 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -503.96527922749664, + -310.536920179087, + -3.9910739350760727 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -506.56335543884995, + -312.036920179087, + -3.9910739350760727 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -506.56335543884995, + -312.036920179087, + -3.9910739350760727 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -509.56335543884995, + -312.036920179087, + -3.9910739350760727 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -512.56335543885, + -312.036920179087, + -3.9910739350760727 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -515.56335543885, + -312.036920179087, + -3.9910739350760727 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -518.56335543885, + -312.036920179087, + -3.9910739350760727 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -521.56335543885, + -312.036920179087, + -3.9910739350760727 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -524.56335543885, + -312.036920179087, + -3.9910739350760727 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -527.56335543885, + -312.036920179087, + -3.9910739350760727 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -530.56335543885, + -312.036920179087, + -3.9910739350760727 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -533.56335543885, + -312.036920179087, + -3.9910739350760727 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -536.56335543885, + -312.036920179087, + -3.9910739350760727 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -539.56335543885, + -312.036920179087, + -3.9910739350760727 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -542.56335543885, + -312.036920179087, + -3.9910739350760727 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -545.8660174560547, + -312.8632476806641, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-24-56_40610537/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-24-56_40610537/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e4d077fe96d488fbe6682497195cb612bf992786 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-24-56_40610537/pose.jsonl @@ -0,0 +1,352 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -318.0076128435015, + -409.4911179342727, + 4.290734708976103 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -316.5076128435015, + -412.08919414562604, + 4.290734708976103 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -315.0076128435015, + -414.68727035697935, + 4.290734708976103 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -313.5076128435015, + -417.28534656833267, + 4.290734708976103 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -312.0076128435015, + -419.883422779686, + 4.290734708976103 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -310.5076128435015, + -422.4814989910393, + 4.290734708976103 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -309.0076128435015, + -425.0795752023926, + 4.290734708976103 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -307.5076128435015, + -427.67765141374593, + 4.290734708976103 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -306.0076128435015, + -430.27572762509925, + 4.290734708976103 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -304.5076128435015, + -432.87380383645257, + 4.290734708976103 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -303.0076128435015, + -435.4718800478059, + 4.290734708976103 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -301.5076128435015, + -438.0699562591592, + 4.290734708976103 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -300.0076128435015, + -440.6680324705125, + 4.290734708976103 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -298.5076128435015, + -443.26610868186583, + 4.290734708976103 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -297.0076128435015, + -445.86418489321915, + 4.290734708976103 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -295.5076128435015, + -448.46226110457246, + 4.290734708976103 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -294.0076128435015, + -451.0603373159258, + 4.290734708976103 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -292.5076128435015, + -453.6584135272791, + 4.290734708976103 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -292.5076128435015, + -453.6584135272791, + 4.290734708976103 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -289.90953663214816, + -455.1584135272791, + 4.290734708976103 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -287.31146042079484, + -456.6584135272791, + 4.290734708976103 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -284.71338420944153, + -458.1584135272791, + 4.290734708976103 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -282.1153079980882, + -459.6584135272791, + 4.290734708976103 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -279.5172317867349, + -461.1584135272791, + 4.290734708976103 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -276.9191555753816, + -462.6584135272791, + 4.290734708976103 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -274.32107936402826, + -464.1584135272791, + 4.290734708976103 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -270.6246540832519, + -464.87673126220704, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-24-5_1204462951/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-24-5_1204462951/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..135f7db8a73fcf2005185b8de3851410430aaac4 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-24-5_1204462951/pose.jsonl @@ -0,0 +1,391 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -22.768102919682036, + -25.934742362824352, + -3.481350584618842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -19.768102919682036, + -25.934742362824352, + -3.481350584618842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -16.768102919682036, + -25.934742362824352, + -3.481350584618842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -13.768102919682036, + -25.934742362824352, + -3.481350584618842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -10.768102919682036, + -25.934742362824352, + -3.481350584618842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -7.768102919682036, + -25.934742362824352, + -3.481350584618842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -4.768102919682036, + -25.934742362824352, + -3.481350584618842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1.7681029196820361, + -25.934742362824352, + -3.481350584618842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1.2318970803179639, + -25.934742362824352, + -3.481350584618842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4.231897080317964, + -25.934742362824352, + -3.481350584618842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 7.231897080317964, + -25.934742362824352, + -3.481350584618842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 10.231897080317964, + -25.934742362824352, + -3.481350584618842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 13.231897080317964, + -25.934742362824352, + -3.481350584618842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 16.231897080317964, + -25.934742362824352, + -3.481350584618842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 19.231897080317964, + -25.934742362824352, + -3.481350584618842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 22.231897080317964, + -25.934742362824352, + -3.481350584618842 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 22.231897080317964, + -25.934742362824352, + -3.481350584618842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 24.82997329167128, + -24.434742362824352, + -3.481350584618842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 27.428049503024596, + -22.934742362824352, + -3.481350584618842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 30.026125714377912, + -21.434742362824352, + -3.481350584618842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 32.62420192573123, + -19.934742362824352, + -3.481350584618842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 35.222278137084544, + -18.434742362824352, + -3.481350584618842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 37.82035434843786, + -16.934742362824352, + -3.481350584618842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 40.418430559791176, + -15.434742362824352, + -3.481350584618842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 43.01650677114449, + -13.934742362824352, + -3.481350584618842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 45.61458298249781, + -12.434742362824352, + -3.481350584618842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 48.212659193851124, + -10.934742362824352, + -3.481350584618842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 50.81073540520444, + -9.434742362824352, + -3.481350584618842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 53.408811616557756, + -7.934742362824352, + -3.481350584618842 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 56.6919751739502, + -8.754466934204101, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-3-27_1505193512/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-3-27_1505193512/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3eb0d7194d684571fdcff8bf5f84fda8de60acae --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-3-27_1505193512/pose.jsonl @@ -0,0 +1,560 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -879.486357548639, + 116.14036061437125, + -4.001323821753925 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -876.8882813372857, + 117.64036061437125, + -4.001323821753925 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -874.2902051259323, + 119.14036061437125, + -4.001323821753925 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -871.6921289145789, + 120.64036061437125, + -4.001323821753925 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -869.0940527032255, + 122.14036061437125, + -4.001323821753925 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -866.4959764918722, + 123.64036061437125, + -4.001323821753925 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -863.8979002805188, + 125.14036061437125, + -4.001323821753925 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -861.2998240691654, + 126.64036061437125, + -4.001323821753925 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -858.701747857812, + 128.14036061437125, + -4.001323821753925 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -856.1036716464587, + 129.64036061437125, + -4.001323821753925 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -853.5055954351053, + 131.14036061437125, + -4.001323821753925 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -850.9075192237519, + 132.64036061437125, + -4.001323821753925 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -848.3094430123986, + 134.14036061437125, + -4.001323821753925 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -845.7113668010452, + 135.64036061437125, + -4.001323821753925 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -843.1132905896918, + 137.14036061437125, + -4.001323821753925 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -840.5152143783384, + 138.64036061437125, + -4.001323821753925 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -837.9171381669851, + 140.14036061437125, + -4.001323821753925 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -835.3190619556317, + 141.64036061437125, + -4.001323821753925 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -832.7209857442783, + 143.14036061437125, + -4.001323821753925 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -830.122909532925, + 144.64036061437125, + -4.001323821753925 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -827.5248333215716, + 146.14036061437125, + -4.001323821753925 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -824.9267571102182, + 147.64036061437125, + -4.001323821753925 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -822.3286808988648, + 149.14036061437125, + -4.001323821753925 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -819.7306046875115, + 150.64036061437125, + -4.001323821753925 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -817.1325284761581, + 152.14036061437125, + -4.001323821753925 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -814.5344522648047, + 153.64036061437125, + -4.001323821753925 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -811.9363760534513, + 155.14036061437125, + -4.001323821753925 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -809.338299842098, + 156.64036061437125, + -4.001323821753925 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -806.7402236307446, + 158.14036061437125, + -4.001323821753925 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -804.1421474193912, + 159.64036061437125, + -4.001323821753925 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -801.5440712080378, + 161.14036061437125, + -4.001323821753925 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -798.9459949966845, + 162.64036061437125, + -4.001323821753925 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -796.3479187853311, + 164.14036061437125, + -4.001323821753925 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -793.7498425739777, + 165.64036061437125, + -4.001323821753925 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -791.1517663626244, + 167.14036061437125, + -4.001323821753925 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -788.553690151271, + 168.64036061437125, + -4.001323821753925 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -785.9556139399176, + 170.14036061437125, + -4.001323821753925 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -783.3575377285642, + 171.64036061437125, + -4.001323821753925 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -780.7594615172109, + 173.14036061437125, + -4.001323821753925 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -780.7594615172109, + 173.14036061437125, + -4.001323821753925 + ], + "type": "turn left", + "value": 30, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -780.7594615172109, + 173.14036061437125, + -4.001323821753925 + ], + "type": "go straight", + "value": 3, + "yaw": 1.570796326794887 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -780.7594615172109, + 176.14036061437125, + -4.001323821753925 + ], + "type": "stop", + "value": 0, + "yaw": 1.570796326794887 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -779.8773458862305, + 179.3161050415039, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-32-14_395279207/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-32-14_395279207/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..743050c234ff36663fbdc7834c33b3d6dc1dc36d --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-32-14_395279207/pose.jsonl @@ -0,0 +1,391 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -739.7442281797265, + 295.657879971756, + -1.7400634706134364 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -737.1461519683733, + 294.157879971756, + -1.7400634706134364 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -734.5480757570199, + 292.657879971756, + -1.7400634706134364 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -731.9499995456665, + 291.157879971756, + -1.7400634706134364 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -729.3519233343131, + 289.657879971756, + -1.7400634706134364 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -726.7538471229598, + 288.157879971756, + -1.7400634706134364 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -724.1557709116064, + 286.657879971756, + -1.7400634706134364 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -721.557694700253, + 285.157879971756, + -1.7400634706134364 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -718.9596184888997, + 283.657879971756, + -1.7400634706134364 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -716.3615422775463, + 282.157879971756, + -1.7400634706134364 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -713.7634660661929, + 280.657879971756, + -1.7400634706134364 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -711.1653898548395, + 279.157879971756, + -1.7400634706134364 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -711.1653898548395, + 279.157879971756, + -1.7400634706134364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -709.6653898548395, + 276.5598037604027, + -1.7400634706134364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -708.1653898548395, + 273.9617275490494, + -1.7400634706134364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -706.6653898548395, + 271.36365133769607, + -1.7400634706134364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -705.1653898548395, + 268.76557512634275, + -1.7400634706134364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -703.6653898548395, + 266.16749891498944, + -1.7400634706134364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -702.1653898548395, + 263.5694227036361, + -1.7400634706134364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -700.6653898548395, + 260.9713464922828, + -1.7400634706134364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -699.1653898548395, + 258.3732702809295, + -1.7400634706134364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -697.6653898548395, + 255.77519406957617, + -1.7400634706134364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -696.1653898548395, + 253.17711785822286, + -1.7400634706134364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -694.6653898548395, + 250.57904164686954, + -1.7400634706134364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -693.1653898548395, + 247.98096543551623, + -1.7400634706134364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -691.6653898548395, + 245.3828892241629, + -1.7400634706134364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -690.1653898548395, + 242.7848130128096, + -1.7400634706134364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -688.6653898548395, + 240.18673680145628, + -1.7400634706134364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -687.1653898548395, + 237.58866059010296, + -1.7400634706134364 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -684.7201055908203, + 237.53857521057128, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-34-28_2033505236/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-34-28_2033505236/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..af0e44149d06f8f3c69d05ea1acf47df800afcd9 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-34-28_2033505236/pose.jsonl @@ -0,0 +1,534 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 144.1300780734437, + 128.6413327856963, + 1.6001442315948111 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 141.5320018620904, + 130.1413327856963, + 1.6001442315948111 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 138.93392565073708, + 131.6413327856963, + 1.6001442315948111 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 136.33584943938376, + 133.1413327856963, + 1.6001442315948111 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 133.73777322803045, + 134.6413327856963, + 1.6001442315948111 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 131.13969701667713, + 136.1413327856963, + 1.6001442315948111 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 128.54162080532382, + 137.6413327856963, + 1.6001442315948111 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 125.9435445939705, + 139.1413327856963, + 1.6001442315948111 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 123.34546838261718, + 140.6413327856963, + 1.6001442315948111 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 120.74739217126387, + 142.1413327856963, + 1.6001442315948111 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 118.14931595991055, + 143.6413327856963, + 1.6001442315948111 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 115.55123974855724, + 145.1413327856963, + 1.6001442315948111 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 112.95316353720392, + 146.6413327856963, + 1.6001442315948111 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 110.3550873258506, + 148.1413327856963, + 1.6001442315948111 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 107.75701111449729, + 149.6413327856963, + 1.6001442315948111 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 105.15893490314397, + 151.1413327856963, + 1.6001442315948111 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 102.56085869179066, + 152.6413327856963, + 1.6001442315948111 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 99.96278248043734, + 154.1413327856963, + 1.6001442315948111 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 97.36470626908402, + 155.6413327856963, + 1.6001442315948111 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 94.76663005773071, + 157.1413327856963, + 1.6001442315948111 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 92.16855384637739, + 158.6413327856963, + 1.6001442315948111 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 89.57047763502408, + 160.1413327856963, + 1.6001442315948111 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 89.57047763502408, + 160.1413327856963, + 1.6001442315948111 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 86.57047763502408, + 160.1413327856963, + 1.6001442315948111 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 83.57047763502408, + 160.1413327856963, + 1.6001442315948111 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 80.57047763502408, + 160.1413327856963, + 1.6001442315948111 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 77.57047763502408, + 160.1413327856963, + 1.6001442315948111 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 74.57047763502408, + 160.1413327856963, + 1.6001442315948111 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 71.57047763502408, + 160.1413327856963, + 1.6001442315948111 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 68.57047763502408, + 160.1413327856963, + 1.6001442315948111 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 65.57047763502408, + 160.1413327856963, + 1.6001442315948111 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 62.570477635024076, + 160.1413327856963, + 1.6001442315948111 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 59.570477635024076, + 160.1413327856963, + 1.6001442315948111 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 56.570477635024076, + 160.1413327856963, + 1.6001442315948111 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 53.570477635024076, + 160.1413327856963, + 1.6001442315948111 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 50.570477635024076, + 160.1413327856963, + 1.6001442315948111 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 47.570477635024076, + 160.1413327856963, + 1.6001442315948111 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 44.570477635024076, + 160.1413327856963, + 1.6001442315948111 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 41.570477635024076, + 160.1413327856963, + 1.6001442315948111 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 38.570477635024076, + 160.1413327856963, + 1.6001442315948111 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 36.64368785858154, + 161.94002262115478, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-4-40_241909610/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-4-40_241909610/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e8a20eab1fd0b0deb60c7e7657d033eeb4b6d973 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-4-40_241909610/pose.jsonl @@ -0,0 +1,521 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -712.464160150734, + 132.80923953450647, + 0.40397331156158867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -712.464160150734, + 135.80923953450647, + 0.40397331156158867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -712.464160150734, + 138.80923953450647, + 0.40397331156158867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -712.464160150734, + 141.80923953450647, + 0.40397331156158867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -712.464160150734, + 144.80923953450647, + 0.40397331156158867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -712.464160150734, + 147.80923953450647, + 0.40397331156158867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -712.464160150734, + 150.80923953450647, + 0.40397331156158867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -712.464160150734, + 153.80923953450647, + 0.40397331156158867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -712.464160150734, + 156.80923953450647, + 0.40397331156158867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -712.464160150734, + 159.80923953450647, + 0.40397331156158867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -712.464160150734, + 162.80923953450647, + 0.40397331156158867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -712.464160150734, + 165.80923953450647, + 0.40397331156158867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -712.464160150734, + 168.80923953450647, + 0.40397331156158867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -712.464160150734, + 171.80923953450647, + 0.40397331156158867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -712.464160150734, + 174.80923953450647, + 0.40397331156158867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -712.464160150734, + 177.80923953450647, + 0.40397331156158867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -712.464160150734, + 180.80923953450647, + 0.40397331156158867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -712.464160150734, + 183.80923953450647, + 0.40397331156158867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -712.464160150734, + 186.80923953450647, + 0.40397331156158867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -712.464160150734, + 189.80923953450647, + 0.40397331156158867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -712.464160150734, + 192.80923953450647, + 0.40397331156158867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -712.464160150734, + 195.80923953450647, + 0.40397331156158867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -712.464160150734, + 198.80923953450647, + 0.40397331156158867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -712.464160150734, + 201.80923953450647, + 0.40397331156158867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -712.464160150734, + 204.80923953450647, + 0.40397331156158867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -712.464160150734, + 207.80923953450647, + 0.40397331156158867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -712.464160150734, + 210.80923953450647, + 0.40397331156158867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -712.464160150734, + 213.80923953450647, + 0.40397331156158867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -712.464160150734, + 216.80923953450647, + 0.40397331156158867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -712.464160150734, + 219.80923953450647, + 0.40397331156158867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -712.464160150734, + 222.80923953450647, + 0.40397331156158867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -712.464160150734, + 225.80923953450647, + 0.40397331156158867 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -712.464160150734, + 225.80923953450647, + 0.40397331156158867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -710.964160150734, + 228.4073157458598, + 0.40397331156158867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -709.464160150734, + 231.0053919572131, + 0.40397331156158867 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -709.464160150734, + 231.0053919572131, + 0.40397331156158867 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -706.8660839393806, + 232.5053919572131, + 0.40397331156158867 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -704.2680077280272, + 234.0053919572131, + 0.40397331156158867 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -701.6699315166738, + 235.5053919572131, + 0.40397331156158867 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -701.6309753417969, + 238.16310417175293, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-40-27_765326717/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-40-27_765326717/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2f7e8811bb2ae776436fb06bddbe8a1405c3abc2 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-40-27_765326717/pose.jsonl @@ -0,0 +1,183 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 460.86064466040443, + 412.9873119874659, + -3.959940994752089 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 463.86064466040443, + 412.9873119874659, + -3.959940994752089 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 466.86064466040443, + 412.9873119874659, + -3.959940994752089 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 469.86064466040443, + 412.9873119874659, + -3.959940994752089 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 472.86064466040443, + 412.9873119874659, + -3.959940994752089 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 475.86064466040443, + 412.9873119874659, + -3.959940994752089 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 478.86064466040443, + 412.9873119874659, + -3.959940994752089 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 481.86064466040443, + 412.9873119874659, + -3.959940994752089 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 484.86064466040443, + 412.9873119874659, + -3.959940994752089 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 487.86064466040443, + 412.9873119874659, + -3.959940994752089 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 490.86064466040443, + 412.9873119874659, + -3.959940994752089 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 493.86064466040443, + 412.9873119874659, + -3.959940994752089 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 496.86064466040443, + 412.9873119874659, + -3.959940994752089 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 560.3580831909179, + 412.7992530822754, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-43-35_1725138377/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-43-35_1725138377/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7546354849cde223f8318f9fea56a1fd9f4ab1fe --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-43-35_1725138377/pose.jsonl @@ -0,0 +1,495 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -231.12622126662532, + 92.6888875894704, + 1.9851648491652245 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -231.12622126662532, + 89.6888875894704, + 1.9851648491652245 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -231.12622126662532, + 86.6888875894704, + 1.9851648491652245 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -231.12622126662532, + 83.6888875894704, + 1.9851648491652245 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -231.12622126662532, + 80.6888875894704, + 1.9851648491652245 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -231.12622126662532, + 77.6888875894704, + 1.9851648491652245 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -231.12622126662532, + 74.6888875894704, + 1.9851648491652245 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -231.12622126662532, + 71.6888875894704, + 1.9851648491652245 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -231.12622126662532, + 68.6888875894704, + 1.9851648491652245 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -231.12622126662532, + 65.6888875894704, + 1.9851648491652245 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -231.12622126662532, + 62.6888875894704, + 1.9851648491652245 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -231.12622126662532, + 59.6888875894704, + 1.9851648491652245 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -231.12622126662532, + 56.6888875894704, + 1.9851648491652245 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -231.12622126662532, + 53.6888875894704, + 1.9851648491652245 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -231.12622126662532, + 50.6888875894704, + 1.9851648491652245 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -231.12622126662532, + 47.6888875894704, + 1.9851648491652245 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -231.12622126662532, + 44.6888875894704, + 1.9851648491652245 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -231.12622126662532, + 41.6888875894704, + 1.9851648491652245 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -231.12622126662532, + 38.6888875894704, + 1.9851648491652245 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -231.12622126662532, + 35.6888875894704, + 1.9851648491652245 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -231.12622126662532, + 32.6888875894704, + 1.9851648491652245 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -231.12622126662532, + 29.688887589470397, + 1.9851648491652245 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -231.12622126662532, + 26.688887589470397, + 1.9851648491652245 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -231.12622126662532, + 23.688887589470397, + 1.9851648491652245 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -231.12622126662532, + 20.688887589470397, + 1.9851648491652245 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -231.12622126662532, + 17.688887589470397, + 1.9851648491652245 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -231.12622126662532, + 14.688887589470397, + 1.9851648491652245 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -231.12622126662532, + 14.688887589470397, + 1.9851648491652245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -232.62622126662532, + 12.090811378117081, + 1.9851648491652245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -234.12622126662532, + 9.492735166763765, + 1.9851648491652245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -235.62622126662532, + 6.894658955410449, + 1.9851648491652245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -237.12622126662532, + 4.296582744057133, + 1.9851648491652245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -238.62622126662532, + 1.6985065327038171, + 1.9851648491652245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -240.12622126662532, + -0.8995696786494989, + 1.9851648491652245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -241.62622126662532, + -3.497645890002815, + 1.9851648491652245 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -241.62622126662532, + -3.497645890002815, + 1.9851648491652245 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -241.62622126662532, + -6.497645890002815, + 1.9851648491652245 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -242.29689208984374, + -10.230338129997254, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-48-44_1986894018/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-48-44_1986894018/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..60aa7879dc13340cbbce47af943307fd39598fff --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-48-44_1986894018/pose.jsonl @@ -0,0 +1,495 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -844.6031016934262, + 375.3201076407046, + 1.8592231478469392 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -847.2011779047796, + 373.8201076407046, + 1.8592231478469392 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -849.7992541161329, + 372.3201076407046, + 1.8592231478469392 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -852.3973303274863, + 370.8201076407046, + 1.8592231478469392 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -854.9954065388397, + 369.3201076407046, + 1.8592231478469392 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -857.5934827501931, + 367.8201076407046, + 1.8592231478469392 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -860.1915589615464, + 366.3201076407046, + 1.8592231478469392 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -862.7896351728998, + 364.8201076407046, + 1.8592231478469392 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -865.3877113842532, + 363.3201076407046, + 1.8592231478469392 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -867.9857875956066, + 361.8201076407046, + 1.8592231478469392 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -870.5838638069599, + 360.3201076407046, + 1.8592231478469392 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -873.1819400183133, + 358.8201076407046, + 1.8592231478469392 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -875.7800162296667, + 357.3201076407046, + 1.8592231478469392 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -878.37809244102, + 355.8201076407046, + 1.8592231478469392 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -880.9761686523734, + 354.3201076407046, + 1.8592231478469392 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -883.5742448637268, + 352.8201076407046, + 1.8592231478469392 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -886.1723210750802, + 351.3201076407046, + 1.8592231478469392 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -888.7703972864335, + 349.8201076407046, + 1.8592231478469392 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -891.3684734977869, + 348.3201076407046, + 1.8592231478469392 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -893.9665497091403, + 346.8201076407046, + 1.8592231478469392 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -896.5646259204937, + 345.3201076407046, + 1.8592231478469392 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -899.162702131847, + 343.8201076407046, + 1.8592231478469392 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -901.7607783432004, + 342.3201076407046, + 1.8592231478469392 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -904.3588545545538, + 340.8201076407046, + 1.8592231478469392 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -906.9569307659071, + 339.3201076407046, + 1.8592231478469392 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -909.5550069772605, + 337.8201076407046, + 1.8592231478469392 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -909.5550069772605, + 337.8201076407046, + 1.8592231478469392 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -912.5550069772605, + 337.8201076407046, + 1.8592231478469392 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -915.5550069772605, + 337.8201076407046, + 1.8592231478469392 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -918.5550069772605, + 337.8201076407046, + 1.8592231478469392 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -921.5550069772605, + 337.8201076407046, + 1.8592231478469392 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -924.5550069772605, + 337.8201076407046, + 1.8592231478469392 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -927.5550069772605, + 337.8201076407046, + 1.8592231478469392 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -930.5550069772605, + 337.8201076407046, + 1.8592231478469392 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -933.5550069772605, + 337.8201076407046, + 1.8592231478469392 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -936.5550069772605, + 337.8201076407046, + 1.8592231478469392 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -939.5550069772605, + 337.8201076407046, + 1.8592231478469392 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -942.5730328369141, + 336.42247901916505, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-49-45_362575055/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-49-45_362575055/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fdf767eeaafd7423246b3a8fc24a80c52d42bd53 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-49-45_362575055/pose.jsonl @@ -0,0 +1,469 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 10.250250608124023, + 257.61361592249904, + -2.263535593453523 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 11.750250608124023, + 255.01553971114572, + -2.263535593453523 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 13.250250608124023, + 252.4174634997924, + -2.263535593453523 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 14.750250608124023, + 249.8193872884391, + -2.263535593453523 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 16.250250608124023, + 247.22131107708577, + -2.263535593453523 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 17.750250608124023, + 244.62323486573246, + -2.263535593453523 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 19.250250608124023, + 242.02515865437914, + -2.263535593453523 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 20.750250608124023, + 239.42708244302582, + -2.263535593453523 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 22.250250608124023, + 236.8290062316725, + -2.263535593453523 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 23.750250608124023, + 234.2309300203192, + -2.263535593453523 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 25.250250608124023, + 231.63285380896588, + -2.263535593453523 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 26.750250608124023, + 229.03477759761256, + -2.263535593453523 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 28.250250608124023, + 226.43670138625924, + -2.263535593453523 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 29.750250608124023, + 223.83862517490593, + -2.263535593453523 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 31.250250608124023, + 221.2405489635526, + -2.263535593453523 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 32.75025060812403, + 218.6424727521993, + -2.263535593453523 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965967 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 34.25025060812403, + 216.04439654084598, + -2.263535593453523 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 35.75025060812403, + 213.44632032949266, + -2.263535593453523 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 35.75025060812403, + 213.44632032949266, + -2.263535593453523 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 35.75025060812403, + 210.44632032949266, + -2.263535593453523 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 35.75025060812403, + 207.44632032949266, + -2.263535593453523 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 35.75025060812403, + 204.44632032949266, + -2.263535593453523 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 35.75025060812403, + 201.44632032949266, + -2.263535593453523 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 35.75025060812403, + 198.44632032949266, + -2.263535593453523 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 35.75025060812403, + 195.44632032949266, + -2.263535593453523 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 35.75025060812403, + 192.44632032949266, + -2.263535593453523 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 35.75025060812403, + 189.44632032949266, + -2.263535593453523 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 35.75025060812403, + 186.44632032949266, + -2.263535593453523 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 35.75025060812403, + 183.44632032949266, + -2.263535593453523 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 35.75025060812403, + 180.44632032949266, + -2.263535593453523 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 35.75025060812403, + 177.44632032949266, + -2.263535593453523 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 35.75025060812403, + 174.44632032949266, + -2.263535593453523 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 35.75025060812403, + 171.44632032949266, + -2.263535593453523 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 35.75025060812403, + 168.44632032949266, + -2.263535593453523 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 35.75025060812403, + 165.44632032949266, + -2.263535593453523 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 36.64368785858154, + 161.94002262115478, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-51-9_1130698571/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-51-9_1130698571/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..24a088ad2d430941fe907f608fad61d56cd6ccb1 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-51-9_1130698571/pose.jsonl @@ -0,0 +1,352 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 344.4902985804115, + 602.3475908536896, + -3.1162512217814866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 342.9902985804115, + 604.9456670650429, + -3.1162512217814866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 341.4902985804115, + 607.5437432763963, + -3.1162512217814866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 339.9902985804115, + 610.1418194877497, + -3.1162512217814866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 338.4902985804115, + 612.739895699103, + -3.1162512217814866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 336.9902985804115, + 615.3379719104564, + -3.1162512217814866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 335.4902985804115, + 617.9360481218098, + -3.1162512217814866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 333.9902985804115, + 620.5341243331632, + -3.1162512217814866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 332.4902985804115, + 623.1322005445165, + -3.1162512217814866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 330.9902985804115, + 625.7302767558699, + -3.1162512217814866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 329.4902985804115, + 628.3283529672233, + -3.1162512217814866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 327.9902985804115, + 630.9264291785767, + -3.1162512217814866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 326.4902985804115, + 633.52450538993, + -3.1162512217814866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 324.9902985804115, + 636.1225816012834, + -3.1162512217814866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 323.4902985804115, + 638.7206578126368, + -3.1162512217814866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 321.9902985804115, + 641.3187340239901, + -3.1162512217814866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 320.4902985804115, + 643.9168102353435, + -3.1162512217814866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 318.9902985804115, + 646.5148864466969, + -3.1162512217814866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 317.4902985804115, + 649.1129626580503, + -3.1162512217814866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 315.9902985804115, + 651.7110388694036, + -3.1162512217814866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 314.4902985804115, + 654.309115080757, + -3.1162512217814866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 312.9902985804115, + 656.9071912921104, + -3.1162512217814866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 311.4902985804115, + 659.5052675034638, + -3.1162512217814866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 309.9902985804115, + 662.1033437148171, + -3.1162512217814866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 308.4902985804115, + 664.7014199261705, + -3.1162512217814866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 306.9902985804115, + 667.2994961375239, + -3.1162512217814866 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 307.503537902832, + 668.8986363220215, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-55-1_1460082195/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-55-1_1460082195/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..16ad7f0c526ab8efce2e90df7f28e80bc77a68be --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-55-1_1460082195/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -79.6197861178442, + -224.24182587172973, + 2.72272418778115 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -76.6197861178442, + -224.24182587172973, + 2.72272418778115 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -73.6197861178442, + -224.24182587172973, + 2.72272418778115 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -70.6197861178442, + -224.24182587172973, + 2.72272418778115 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -67.6197861178442, + -224.24182587172973, + 2.72272418778115 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -64.6197861178442, + -224.24182587172973, + 2.72272418778115 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -61.6197861178442, + -224.24182587172973, + 2.72272418778115 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -58.6197861178442, + -224.24182587172973, + 2.72272418778115 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -55.6197861178442, + -224.24182587172973, + 2.72272418778115 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -55.6197861178442, + -224.24182587172973, + 2.72272418778115 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -53.021709906490884, + -225.74182587172973, + 2.72272418778115 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -50.42363369513757, + -227.24182587172973, + 2.72272418778115 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -47.82555748378425, + -228.74182587172973, + 2.72272418778115 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -45.227481272430936, + -230.24182587172973, + 2.72272418778115 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -42.62940506107762, + -231.74182587172973, + 2.72272418778115 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -40.031328849724304, + -233.24182587172973, + 2.72272418778115 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -37.43325263837099, + -234.74182587172973, + 2.72272418778115 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -34.83517642701767, + -236.24182587172973, + 2.72272418778115 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -32.237100215664356, + -237.74182587172973, + 2.72272418778115 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -29.63902400431104, + -239.24182587172973, + 2.72272418778115 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -27.040947792957724, + -240.74182587172973, + 2.72272418778115 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -24.442871581604408, + -242.24182587172973, + 2.72272418778115 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -21.84479537025109, + -243.74182587172973, + 2.72272418778115 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -19.246719158897776, + -245.24182587172973, + 2.72272418778115 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -16.64864294754446, + -246.74182587172973, + 2.72272418778115 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -14.050566736191143, + -248.24182587172973, + 2.72272418778115 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -11.452490524837827, + -249.74182587172973, + 2.72272418778115 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -8.725501627922059, + -251.86730323791502, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-58-27_1290127955/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-58-27_1290127955/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8da79e3192c79dd7c998c14b5ec71fac114b0baa --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-58-27_1290127955/pose.jsonl @@ -0,0 +1,378 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -937.4032102966158, + 472.62293115030604, + -3.3446438501092866 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -935.9032102966158, + 470.02485493895273, + -3.3446438501092866 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -934.4032102966158, + 467.4267787275994, + -3.3446438501092866 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -932.9032102966158, + 464.8287025162461, + -3.3446438501092866 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -931.4032102966158, + 462.2306263048928, + -3.3446438501092866 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -929.9032102966158, + 459.63255009353946, + -3.3446438501092866 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -928.4032102966158, + 457.03447388218615, + -3.3446438501092866 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -926.9032102966158, + 454.43639767083283, + -3.3446438501092866 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -925.4032102966158, + 451.8383214594795, + -3.3446438501092866 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -923.9032102966158, + 449.2402452481262, + -3.3446438501092866 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -922.4032102966158, + 446.6421690367729, + -3.3446438501092866 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -920.9032102966158, + 444.04409282541957, + -3.3446438501092866 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -919.4032102966158, + 441.44601661406625, + -3.3446438501092866 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -917.9032102966158, + 438.84794040271294, + -3.3446438501092866 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -916.4032102966158, + 436.2498641913596, + -3.3446438501092866 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -914.9032102966158, + 433.6517879800063, + -3.3446438501092866 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -914.9032102966158, + 433.6517879800063, + -3.3446438501092866 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -912.3051340852626, + 432.1517879800063, + -3.3446438501092866 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -909.7070578739092, + 430.6517879800063, + -3.3446438501092866 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -907.1089816625558, + 429.1517879800063, + -3.3446438501092866 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -904.5109054512025, + 427.6517879800063, + -3.3446438501092866 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -901.9128292398491, + 426.1517879800063, + -3.3446438501092866 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -899.3147530284957, + 424.6517879800063, + -3.3446438501092866 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -896.7166768171423, + 423.1517879800063, + -3.3446438501092866 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -894.118600605789, + 421.6517879800063, + -3.3446438501092866 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -891.5205243944356, + 420.1517879800063, + -3.3446438501092866 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -888.9224481830822, + 418.6517879800063, + -3.3446438501092866 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -886.3243719717289, + 417.1517879800063, + -3.3446438501092866 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -884.2225183105469, + 417.81855880737305, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-59-51_537322532/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-59-51_537322532/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b6117493c4cc53135d05615ae8cdd92eac73854f --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-59-51_537322532/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -960.3891602186781, + 447.87887864626225, + -1.31783758821769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -960.3891602186781, + 444.87887864626225, + -1.31783758821769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -960.3891602186781, + 441.87887864626225, + -1.31783758821769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -960.3891602186781, + 438.87887864626225, + -1.31783758821769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -960.3891602186781, + 435.87887864626225, + -1.31783758821769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -960.3891602186781, + 432.87887864626225, + -1.31783758821769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -960.3891602186781, + 429.87887864626225, + -1.31783758821769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -960.3891602186781, + 426.87887864626225, + -1.31783758821769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -960.3891602186781, + 423.87887864626225, + -1.31783758821769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -960.3891602186781, + 420.87887864626225, + -1.31783758821769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -960.3891602186781, + 417.87887864626225, + -1.31783758821769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -960.3891602186781, + 414.87887864626225, + -1.31783758821769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -960.3891602186781, + 411.87887864626225, + -1.31783758821769 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -960.3891602186781, + 411.87887864626225, + -1.31783758821769 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -961.8891602186781, + 409.28080243490894, + -1.31783758821769 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -963.3891602186781, + 406.6827262235556, + -1.31783758821769 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -964.8891602186781, + 404.0846500122023, + -1.31783758821769 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -966.3891602186781, + 401.486573800849, + -1.31783758821769 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -967.8891602186781, + 398.88849758949567, + -1.31783758821769 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -969.3891602186781, + 396.29042137814236, + -1.31783758821769 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -970.8891602186781, + 393.69234516678904, + -1.31783758821769 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -972.3891602186781, + 391.0942689554357, + -1.31783758821769 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -973.8891602186781, + 388.4961927440824, + -1.31783758821769 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -973.8891602186781, + 388.4961927440824, + -1.31783758821769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -973.8891602186781, + 385.4961927440824, + -1.31783758821769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -973.8891602186781, + 382.4961927440824, + -1.31783758821769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -973.8891602186781, + 379.4961927440824, + -1.31783758821769 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -979.8297436523437, + 358.6925830078125, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-12-49_1211721386/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-12-49_1211721386/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b14d2e16f97484490f6f0d0a700e189e8a67831e --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-12-49_1211721386/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -947.937807864088, + 169.10811632394203, + -0.45756220973364314 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -949.437807864088, + 171.70619253529534, + -0.45756220973364314 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -950.937807864088, + 174.30426874664866, + -0.45756220973364314 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -952.437807864088, + 176.90234495800198, + -0.45756220973364314 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -953.937807864088, + 179.5004211693553, + -0.45756220973364314 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -955.437807864088, + 182.0984973807086, + -0.45756220973364314 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -956.937807864088, + 184.69657359206192, + -0.45756220973364314 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -958.437807864088, + 187.29464980341524, + -0.45756220973364314 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -959.937807864088, + 189.89272601476856, + -0.45756220973364314 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -961.437807864088, + 192.49080222612187, + -0.45756220973364314 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -962.937807864088, + 195.0888784374752, + -0.45756220973364314 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -964.437807864088, + 197.6869546488285, + -0.45756220973364314 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -965.937807864088, + 200.28503086018182, + -0.45756220973364314 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -967.437807864088, + 202.88310707153514, + -0.45756220973364314 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -968.937807864088, + 205.48118328288845, + -0.45756220973364314 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -970.437807864088, + 208.07925949424177, + -0.45756220973364314 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -971.937807864088, + 210.67733570559508, + -0.45756220973364314 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -973.437807864088, + 213.2754119169484, + -0.45756220973364314 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -974.937807864088, + 215.87348812830172, + -0.45756220973364314 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -976.437807864088, + 218.47156433965503, + -0.45756220973364314 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -976.437807864088, + 218.47156433965503, + -0.45756220973364314 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -976.437807864088, + 221.47156433965503, + -0.45756220973364314 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -976.437807864088, + 224.47156433965503, + -0.45756220973364314 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -976.437807864088, + 227.47156433965503, + -0.45756220973364314 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -976.437807864088, + 230.47156433965503, + -0.45756220973364314 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -976.437807864088, + 233.47156433965503, + -0.45756220973364314 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -976.437807864088, + 236.47156433965503, + -0.45756220973364314 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -978.6087219238281, + 239.76509559631347, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-2-32_1521740435/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-2-32_1521740435/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..adbb3119667ab65639fc85f24fbc38d5f332bbac --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-2-32_1521740435/pose.jsonl @@ -0,0 +1,378 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 318.9576238464056, + -146.53109034739805, + -3.6040573961117093 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 320.4576238464056, + -143.93301413604473, + -3.6040573961117093 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 321.9576238464056, + -141.33493792469142, + -3.6040573961117093 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 323.4576238464056, + -138.7368617133381, + -3.6040573961117093 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 324.9576238464056, + -136.13878550198478, + -3.6040573961117093 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 326.4576238464056, + -133.54070929063147, + -3.6040573961117093 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 327.9576238464056, + -130.94263307927815, + -3.6040573961117093 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 329.4576238464056, + -128.34455686792484, + -3.6040573961117093 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 330.9576238464056, + -125.74648065657152, + -3.6040573961117093 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 332.4576238464056, + -123.1484044452182, + -3.6040573961117093 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 333.9576238464056, + -120.55032823386489, + -3.6040573961117093 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 335.4576238464056, + -117.95225202251157, + -3.6040573961117093 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 336.9576238464056, + -115.35417581115826, + -3.6040573961117093 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 338.4576238464056, + -112.75609959980494, + -3.6040573961117093 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 339.9576238464056, + -110.15802338845162, + -3.6040573961117093 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 341.4576238464056, + -107.55994717709831, + -3.6040573961117093 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 342.9576238464056, + -104.96187096574499, + -3.6040573961117093 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 344.4576238464056, + -102.36379475439168, + -3.6040573961117093 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 345.9576238464056, + -99.76571854303836, + -3.6040573961117093 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 347.4576238464056, + -97.16764233168504, + -3.6040573961117093 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 348.9576238464056, + -94.56956612033173, + -3.6040573961117093 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 350.4576238464056, + -91.97148990897841, + -3.6040573961117093 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 351.9576238464056, + -89.3734136976251, + -3.6040573961117093 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 353.4576238464056, + -86.77533748627178, + -3.6040573961117093 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 353.4576238464056, + -86.77533748627178, + -3.6040573961117093 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 356.05570005775894, + -85.27533748627178, + -3.6040573961117093 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 358.65377626911226, + -83.77533748627178, + -3.6040573961117093 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 361.2518524804656, + -82.27533748627178, + -3.6040573961117093 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 361.61789932250974, + -80.46325607299805, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-22-19_763148569/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-22-19_763148569/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..03b7acb2db1323c311ed4edea29111b5e5afe478 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-22-19_763148569/pose.jsonl @@ -0,0 +1,534 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 197.36565948355928, + 649.9292362763281, + 3.8047812354278108 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 200.36565948355928, + 649.9292362763281, + 3.8047812354278108 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 203.36565948355928, + 649.9292362763281, + 3.8047812354278108 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 206.36565948355928, + 649.9292362763281, + 3.8047812354278108 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 209.36565948355928, + 649.9292362763281, + 3.8047812354278108 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 212.36565948355928, + 649.9292362763281, + 3.8047812354278108 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 215.36565948355928, + 649.9292362763281, + 3.8047812354278108 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 218.36565948355928, + 649.9292362763281, + 3.8047812354278108 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 221.36565948355928, + 649.9292362763281, + 3.8047812354278108 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 224.36565948355928, + 649.9292362763281, + 3.8047812354278108 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 227.36565948355928, + 649.9292362763281, + 3.8047812354278108 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 230.36565948355928, + 649.9292362763281, + 3.8047812354278108 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 233.36565948355928, + 649.9292362763281, + 3.8047812354278108 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 236.36565948355928, + 649.9292362763281, + 3.8047812354278108 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 239.36565948355928, + 649.9292362763281, + 3.8047812354278108 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 242.36565948355928, + 649.9292362763281, + 3.8047812354278108 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 245.36565948355928, + 649.9292362763281, + 3.8047812354278108 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 248.36565948355928, + 649.9292362763281, + 3.8047812354278108 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 251.36565948355928, + 649.9292362763281, + 3.8047812354278108 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 254.36565948355928, + 649.9292362763281, + 3.8047812354278108 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 257.3656594835593, + 649.9292362763281, + 3.8047812354278108 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 260.3656594835593, + 649.9292362763281, + 3.8047812354278108 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 263.3656594835593, + 649.9292362763281, + 3.8047812354278108 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 266.3656594835593, + 649.9292362763281, + 3.8047812354278108 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 269.3656594835593, + 649.9292362763281, + 3.8047812354278108 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 272.3656594835593, + 649.9292362763281, + 3.8047812354278108 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 275.3656594835593, + 649.9292362763281, + 3.8047812354278108 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 275.3656594835593, + 649.9292362763281, + 3.8047812354278108 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 277.9637356949126, + 651.4292362763281, + 3.8047812354278108 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 280.5618119062659, + 652.9292362763281, + 3.8047812354278108 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 283.15988811761923, + 654.4292362763281, + 3.8047812354278108 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 285.75796432897255, + 655.9292362763281, + 3.8047812354278108 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 288.35604054032586, + 657.4292362763281, + 3.8047812354278108 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 290.9541167516792, + 658.9292362763281, + 3.8047812354278108 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 293.5521929630325, + 660.4292362763281, + 3.8047812354278108 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 296.1502691743858, + 661.9292362763281, + 3.8047812354278108 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 298.7483453857391, + 663.4292362763281, + 3.8047812354278108 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 301.34642159709244, + 664.9292362763281, + 3.8047812354278108 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 303.94449780844576, + 666.4292362763281, + 3.8047812354278108 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 306.5425740197991, + 667.9292362763281, + 3.8047812354278108 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 307.503537902832, + 668.8986363220215, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-28-39_1588695568/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-28-39_1588695568/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..69bcc530a31b946acdccac190c56db65ea149704 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-28-39_1588695568/pose.jsonl @@ -0,0 +1,521 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -581.862697661082, + 166.26374260909853, + -4.882512305800379 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -584.4607738724353, + 164.76374260909853, + -4.882512305800379 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -587.0588500837887, + 163.26374260909853, + -4.882512305800379 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -589.6569262951421, + 161.76374260909853, + -4.882512305800379 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -592.2550025064954, + 160.26374260909853, + -4.882512305800379 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -594.8530787178488, + 158.76374260909853, + -4.882512305800379 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -597.4511549292022, + 157.26374260909853, + -4.882512305800379 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -600.0492311405555, + 155.76374260909853, + -4.882512305800379 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -602.6473073519089, + 154.26374260909853, + -4.882512305800379 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -605.2453835632623, + 152.76374260909853, + -4.882512305800379 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -607.8434597746157, + 151.26374260909853, + -4.882512305800379 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -610.441535985969, + 149.76374260909853, + -4.882512305800379 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -613.0396121973224, + 148.26374260909853, + -4.882512305800379 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -615.6376884086758, + 146.76374260909853, + -4.882512305800379 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -618.2357646200292, + 145.26374260909853, + -4.882512305800379 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -620.8338408313825, + 143.76374260909853, + -4.882512305800379 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -623.4319170427359, + 142.26374260909853, + -4.882512305800379 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -626.0299932540893, + 140.76374260909853, + -4.882512305800379 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -628.6280694654426, + 139.26374260909853, + -4.882512305800379 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -631.226145676796, + 137.76374260909853, + -4.882512305800379 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -633.8242218881494, + 136.26374260909853, + -4.882512305800379 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -636.4222980995028, + 134.76374260909853, + -4.882512305800379 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -639.0203743108561, + 133.26374260909853, + -4.882512305800379 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -641.6184505222095, + 131.76374260909853, + -4.882512305800379 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -644.2165267335629, + 130.26374260909853, + -4.882512305800379 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -646.8146029449163, + 128.76374260909853, + -4.882512305800379 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -649.4126791562696, + 127.26374260909853, + -4.882512305800379 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -652.010755367623, + 125.76374260909853, + -4.882512305800379 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -654.6088315789764, + 124.26374260909853, + -4.882512305800379 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -657.2069077903298, + 122.76374260909853, + -4.882512305800379 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -659.8049840016831, + 121.26374260909853, + -4.882512305800379 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -662.4030602130365, + 119.76374260909853, + -4.882512305800379 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -665.0011364243899, + 118.26374260909853, + -4.882512305800379 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -667.5992126357432, + 116.76374260909853, + -4.882512305800379 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -670.1972888470966, + 115.26374260909853, + -4.882512305800379 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -672.79536505845, + 113.76374260909853, + -4.882512305800379 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -675.3934412698034, + 112.26374260909853, + -4.882512305800379 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -677.9915174811567, + 110.76374260909853, + -4.882512305800379 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -680.5895936925101, + 109.26374260909853, + -4.882512305800379 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -682.7478131103516, + 107.50352409362793, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-3-33_332702450/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-3-33_332702450/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..01b153d468004f0a13d76cbf990efb3ea1e831cb --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-3-33_332702450/pose.jsonl @@ -0,0 +1,404 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -626.5271812308367, + 258.0615773118749, + 4.03123470626619 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -628.0271812308367, + 255.46350110052157, + 4.03123470626619 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -629.5271812308367, + 252.86542488916825, + 4.03123470626619 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -629.5271812308367, + 252.86542488916825, + 4.03123470626619 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -632.1252574421901, + 251.36542488916825, + 4.03123470626619 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -634.7233336535435, + 249.86542488916825, + 4.03123470626619 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -637.3214098648969, + 248.36542488916825, + 4.03123470626619 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -639.9194860762502, + 246.86542488916825, + 4.03123470626619 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -642.5175622876036, + 245.36542488916825, + 4.03123470626619 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -645.115638498957, + 243.86542488916825, + 4.03123470626619 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -647.7137147103103, + 242.36542488916825, + 4.03123470626619 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -650.3117909216637, + 240.86542488916825, + 4.03123470626619 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -652.9098671330171, + 239.36542488916825, + 4.03123470626619 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -655.5079433443705, + 237.86542488916825, + 4.03123470626619 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -655.5079433443705, + 237.86542488916825, + 4.03123470626619 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -658.5079433443705, + 237.86542488916825, + 4.03123470626619 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -661.5079433443705, + 237.86542488916825, + 4.03123470626619 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -664.5079433443705, + 237.86542488916825, + 4.03123470626619 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -667.5079433443705, + 237.86542488916825, + 4.03123470626619 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -670.5079433443705, + 237.86542488916825, + 4.03123470626619 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -673.5079433443705, + 237.86542488916825, + 4.03123470626619 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -676.5079433443705, + 237.86542488916825, + 4.03123470626619 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -679.5079433443705, + 237.86542488916825, + 4.03123470626619 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -682.5079433443705, + 237.86542488916825, + 4.03123470626619 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -685.5079433443705, + 237.86542488916825, + 4.03123470626619 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -688.5079433443705, + 237.86542488916825, + 4.03123470626619 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -691.5079433443705, + 237.86542488916825, + 4.03123470626619 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -694.5079433443705, + 237.86542488916825, + 4.03123470626619 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -697.5079433443705, + 237.86542488916825, + 4.03123470626619 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -700.5079433443705, + 237.86542488916825, + 4.03123470626619 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -701.6309753417969, + 238.16310417175293, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-32-38_1485511804/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-32-38_1485511804/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fc988599811ec5036ff3e2606db11d78e4ca9f56 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-32-38_1485511804/pose.jsonl @@ -0,0 +1,404 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -389.3974514797007, + 400.95295582334086, + 4.173445296246152 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -389.3974514797007, + 403.95295582334086, + 4.173445296246152 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -389.3974514797007, + 406.95295582334086, + 4.173445296246152 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -389.3974514797007, + 409.95295582334086, + 4.173445296246152 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -389.3974514797007, + 412.95295582334086, + 4.173445296246152 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -389.3974514797007, + 415.95295582334086, + 4.173445296246152 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -389.3974514797007, + 418.95295582334086, + 4.173445296246152 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -389.3974514797007, + 421.95295582334086, + 4.173445296246152 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -389.3974514797007, + 424.95295582334086, + 4.173445296246152 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -389.3974514797007, + 427.95295582334086, + 4.173445296246152 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -389.3974514797007, + 430.95295582334086, + 4.173445296246152 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -389.3974514797007, + 433.95295582334086, + 4.173445296246152 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -389.3974514797007, + 436.95295582334086, + 4.173445296246152 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -389.3974514797007, + 439.95295582334086, + 4.173445296246152 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -389.3974514797007, + 442.95295582334086, + 4.173445296246152 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -389.3974514797007, + 445.95295582334086, + 4.173445296246152 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -389.3974514797007, + 448.95295582334086, + 4.173445296246152 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -389.3974514797007, + 451.95295582334086, + 4.173445296246152 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -389.3974514797007, + 454.95295582334086, + 4.173445296246152 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -389.3974514797007, + 457.95295582334086, + 4.173445296246152 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -389.3974514797007, + 460.95295582334086, + 4.173445296246152 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -389.3974514797007, + 463.95295582334086, + 4.173445296246152 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -389.3974514797007, + 466.95295582334086, + 4.173445296246152 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -389.3974514797007, + 469.95295582334086, + 4.173445296246152 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -389.3974514797007, + 472.95295582334086, + 4.173445296246152 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -389.3974514797007, + 472.95295582334086, + 4.173445296246152 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -389.3974514797007, + 472.95295582334086, + 4.173445296246152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -391.995527691054, + 474.45295582334086, + 4.173445296246152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -394.5936039024073, + 475.95295582334086, + 4.173445296246152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -397.19168011376064, + 477.45295582334086, + 4.173445296246152 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -399.08082916259764, + 479.4950012207031, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-36-1_956134158/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-36-1_956134158/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dcd7416981a47cdfe3ac9f5251e721b894c541de --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-36-1_956134158/pose.jsonl @@ -0,0 +1,391 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 286.03143862365073, + -37.51367727896522, + 0.12469586096377139 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 288.62951483500404, + -39.01367727896522, + 0.12469586096377139 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 291.22759104635736, + -40.51367727896522, + 0.12469586096377139 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 293.8256672577107, + -42.01367727896522, + 0.12469586096377139 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 296.423743469064, + -43.51367727896522, + 0.12469586096377139 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 299.0218196804173, + -45.01367727896522, + 0.12469586096377139 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 301.6198958917706, + -46.51367727896522, + 0.12469586096377139 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 304.21797210312394, + -48.01367727896522, + 0.12469586096377139 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 306.81604831447726, + -49.51367727896522, + 0.12469586096377139 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 309.4141245258306, + -51.01367727896522, + 0.12469586096377139 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 312.0122007371839, + -52.51367727896522, + 0.12469586096377139 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 314.6102769485372, + -54.01367727896522, + 0.12469586096377139 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 317.2083531598905, + -55.51367727896522, + 0.12469586096377139 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 319.80642937124384, + -57.01367727896522, + 0.12469586096377139 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 322.40450558259715, + -58.51367727896522, + 0.12469586096377139 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 325.00258179395047, + -60.01367727896522, + 0.12469586096377139 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 327.6006580053038, + -61.51367727896522, + 0.12469586096377139 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 330.1987342166571, + -63.01367727896522, + 0.12469586096377139 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 332.7968104280104, + -64.51367727896522, + 0.12469586096377139 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 335.39488663936373, + -66.01367727896522, + 0.12469586096377139 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 337.99296285071705, + -67.51367727896522, + 0.12469586096377139 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 340.59103906207037, + -69.01367727896522, + 0.12469586096377139 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 343.1891152734237, + -70.51367727896522, + 0.12469586096377139 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 345.787191484777, + -72.01367727896522, + 0.12469586096377139 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 348.3852676961303, + -73.51367727896522, + 0.12469586096377139 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 350.98334390748363, + -75.01367727896522, + 0.12469586096377139 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 353.58142011883695, + -76.51367727896522, + 0.12469586096377139 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 356.17949633019026, + -78.01367727896522, + 0.12469586096377139 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 358.7775725415436, + -79.51367727896522, + 0.12469586096377139 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 361.61789932250974, + -80.46325607299805, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-42-23_2003980519/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-42-23_2003980519/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3d86dfedaa17ab7a3b94c4c92ea2160dab3c178f --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-42-23_2003980519/pose.jsonl @@ -0,0 +1,53 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 492.46608245896266, + 290.7648778559816, + 0.26535267658120354 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 495.064158670316, + 289.2648778559816, + 0.26535267658120354 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 497.6622348816693, + 287.7648778559816, + 0.26535267658120354 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 583.5565863037109, + 244.7667236328125, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-45-37_1727952741/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-45-37_1727952741/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..93bfb94c938bd1456ec2d7d54854deb78b9fd146 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-45-37_1727952741/pose.jsonl @@ -0,0 +1,235 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -994.6396691492714, + 279.4599080020049, + 3.963958157409172 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -994.6396691492714, + 282.4599080020049, + 3.963958157409172 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -994.6396691492714, + 285.4599080020049, + 3.963958157409172 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -994.6396691492714, + 288.4599080020049, + 3.963958157409172 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -994.6396691492714, + 291.4599080020049, + 3.963958157409172 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -994.6396691492714, + 294.4599080020049, + 3.963958157409172 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -994.6396691492714, + 297.4599080020049, + 3.963958157409172 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -994.6396691492714, + 300.4599080020049, + 3.963958157409172 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -994.6396691492714, + 303.4599080020049, + 3.963958157409172 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -994.6396691492714, + 306.4599080020049, + 3.963958157409172 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -994.6396691492714, + 309.4599080020049, + 3.963958157409172 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -994.6396691492714, + 312.4599080020049, + 3.963958157409172 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -994.6396691492714, + 315.4599080020049, + 3.963958157409172 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -994.6396691492714, + 315.4599080020049, + 3.963958157409172 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -996.1396691492714, + 318.0579842133582, + 3.963958157409172 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -997.6396691492714, + 320.65606042471154, + 3.963958157409172 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -999.1396691492714, + 323.25413663606486, + 3.963958157409172 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1001.9772616577148, + 339.91288177490236, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-46-2_1364180570/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-46-2_1364180570/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b48add9de0eda00ea75c8709d4d8a01c0d960738 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-46-2_1364180570/pose.jsonl @@ -0,0 +1,508 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -584.9438454666564, + 125.07512778410738, + 3.4347191150629115 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -587.9438454666564, + 125.07512778410738, + 3.4347191150629115 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -590.9438454666564, + 125.07512778410738, + 3.4347191150629115 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -593.9438454666564, + 125.07512778410738, + 3.4347191150629115 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -596.9438454666564, + 125.07512778410738, + 3.4347191150629115 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -599.9438454666564, + 125.07512778410738, + 3.4347191150629115 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -602.9438454666564, + 125.07512778410738, + 3.4347191150629115 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -605.9438454666564, + 125.07512778410738, + 3.4347191150629115 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -608.9438454666564, + 125.07512778410738, + 3.4347191150629115 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -611.9438454666564, + 125.07512778410738, + 3.4347191150629115 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -614.9438454666564, + 125.07512778410738, + 3.4347191150629115 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -617.9438454666564, + 125.07512778410738, + 3.4347191150629115 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -620.9438454666564, + 125.07512778410738, + 3.4347191150629115 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -623.9438454666564, + 125.07512778410738, + 3.4347191150629115 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -626.9438454666564, + 125.07512778410738, + 3.4347191150629115 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -629.9438454666564, + 125.07512778410738, + 3.4347191150629115 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -632.9438454666564, + 125.07512778410738, + 3.4347191150629115 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -635.9438454666564, + 125.07512778410738, + 3.4347191150629115 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -638.9438454666564, + 125.07512778410738, + 3.4347191150629115 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -641.9438454666564, + 125.07512778410738, + 3.4347191150629115 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -644.9438454666564, + 125.07512778410738, + 3.4347191150629115 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -647.9438454666564, + 125.07512778410738, + 3.4347191150629115 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -650.9438454666564, + 125.07512778410738, + 3.4347191150629115 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -653.9438454666564, + 125.07512778410738, + 3.4347191150629115 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -656.9438454666564, + 125.07512778410738, + 3.4347191150629115 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -656.9438454666564, + 125.07512778410738, + 3.4347191150629115 + ], + "type": "turn left", + "value": 30, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -656.9438454666564, + 125.07512778410738, + 3.4347191150629115 + ], + "type": "go straight", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -658.4438454666564, + 122.47705157275406, + 3.4347191150629115 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -659.9438454666564, + 119.87897536140075, + 3.4347191150629115 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -661.4438454666564, + 117.28089915004743, + 3.4347191150629115 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -661.4438454666564, + 117.28089915004743, + 3.4347191150629115 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -664.0419216780097, + 115.78089915004743, + 3.4347191150629115 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -666.639997889363, + 114.28089915004743, + 3.4347191150629115 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -669.2380741007164, + 112.78089915004743, + 3.4347191150629115 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -671.8361503120698, + 111.28089915004743, + 3.4347191150629115 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -674.4342265234231, + 109.78089915004743, + 3.4347191150629115 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -677.0323027347765, + 108.28089915004743, + 3.4347191150629115 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -679.6303789461299, + 106.78089915004743, + 3.4347191150629115 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -682.7478131103516, + 107.50352409362793, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-8-14_1424321892/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-8-14_1424321892/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a1c06256d9f856a3921e6bb9163d0099579cbc99 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-8-14_1424321892/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -717.8310425277914, + -200.11350785234345, + 2.6290568024108287 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -715.232966316438, + -198.61350785234345, + 2.6290568024108287 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -712.6348901050847, + -197.11350785234345, + 2.6290568024108287 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -710.0368138937313, + -195.61350785234345, + 2.6290568024108287 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -707.4387376823779, + -194.11350785234345, + 2.6290568024108287 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -704.8406614710245, + -192.61350785234345, + 2.6290568024108287 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -702.2425852596712, + -191.11350785234345, + 2.6290568024108287 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -699.6445090483178, + -189.61350785234345, + 2.6290568024108287 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -697.0464328369644, + -188.11350785234345, + 2.6290568024108287 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -694.448356625611, + -186.61350785234345, + 2.6290568024108287 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -691.8502804142577, + -185.11350785234345, + 2.6290568024108287 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -689.2522042029043, + -183.61350785234345, + 2.6290568024108287 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -686.6541279915509, + -182.11350785234345, + 2.6290568024108287 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -684.0560517801975, + -180.61350785234345, + 2.6290568024108287 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -681.4579755688442, + -179.11350785234345, + 2.6290568024108287 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -678.8598993574908, + -177.61350785234345, + 2.6290568024108287 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -676.2618231461374, + -176.11350785234345, + 2.6290568024108287 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -673.6637469347841, + -174.61350785234345, + 2.6290568024108287 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -671.0656707234307, + -173.11350785234345, + 2.6290568024108287 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -668.4675945120773, + -171.61350785234345, + 2.6290568024108287 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -665.8695183007239, + -170.11350785234345, + 2.6290568024108287 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -665.8695183007239, + -170.11350785234345, + 2.6290568024108287 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -664.3695183007239, + -167.51543164099013, + 2.6290568024108287 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -662.8695183007239, + -164.9173554296368, + 2.6290568024108287 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -661.3270858764648, + -162.2898444366455, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_20-14-42_733450907/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_20-14-42_733450907/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..69f3348ef8b3a1291c6d4f7b613bd80ee8901071 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_20-14-42_733450907/pose.jsonl @@ -0,0 +1,430 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -197.44685711686742, + 423.9093713804814, + 4.3032897454924 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -194.8487809055141, + 422.4093713804814, + 4.3032897454924 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -192.2507046941608, + 420.9093713804814, + 4.3032897454924 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -189.65262848280747, + 419.4093713804814, + 4.3032897454924 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -187.05455227145416, + 417.9093713804814, + 4.3032897454924 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -184.45647606010084, + 416.4093713804814, + 4.3032897454924 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -181.85839984874752, + 414.9093713804814, + 4.3032897454924 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -179.2603236373942, + 413.4093713804814, + 4.3032897454924 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -176.6622474260409, + 411.9093713804814, + 4.3032897454924 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -174.06417121468758, + 410.4093713804814, + 4.3032897454924 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -171.46609500333426, + 408.9093713804814, + 4.3032897454924 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -168.86801879198094, + 407.4093713804814, + 4.3032897454924 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -166.26994258062763, + 405.9093713804814, + 4.3032897454924 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -163.6718663692743, + 404.4093713804814, + 4.3032897454924 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -161.073790157921, + 402.9093713804814, + 4.3032897454924 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -158.47571394656768, + 401.4093713804814, + 4.3032897454924 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -155.87763773521436, + 399.9093713804814, + 4.3032897454924 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -153.27956152386105, + 398.4093713804814, + 4.3032897454924 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -150.68148531250773, + 396.9093713804814, + 4.3032897454924 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -148.08340910115442, + 395.4093713804814, + 4.3032897454924 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -145.4853328898011, + 393.9093713804814, + 4.3032897454924 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -142.88725667844778, + 392.4093713804814, + 4.3032897454924 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -140.28918046709447, + 390.9093713804814, + 4.3032897454924 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -137.69110425574115, + 389.4093713804814, + 4.3032897454924 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -135.09302804438784, + 387.9093713804814, + 4.3032897454924 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -132.49495183303452, + 386.4093713804814, + 4.3032897454924 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -129.8968756216812, + 384.9093713804814, + 4.3032897454924 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -127.29879941032789, + 383.4093713804814, + 4.3032897454924 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -124.70072319897457, + 381.9093713804814, + 4.3032897454924 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -122.10264698762126, + 380.4093713804814, + 4.3032897454924 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -119.50457077626794, + 378.9093713804814, + 4.3032897454924 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -116.90649456491462, + 377.4093713804814, + 4.3032897454924 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -114.1546768951416, + 378.73713836669924, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_20-19-14_670752506/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_20-19-14_670752506/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6afe54dc86edb23de0b23fc388c1b7c186156de4 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_20-19-14_670752506/pose.jsonl @@ -0,0 +1,560 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -233.33835057648704, + 370.29476658080023, + -1.685029104471472 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -230.33835057648704, + 370.29476658080023, + -1.685029104471472 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -227.33835057648704, + 370.29476658080023, + -1.685029104471472 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -224.33835057648704, + 370.29476658080023, + -1.685029104471472 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -221.33835057648704, + 370.29476658080023, + -1.685029104471472 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -218.33835057648704, + 370.29476658080023, + -1.685029104471472 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -215.33835057648704, + 370.29476658080023, + -1.685029104471472 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -212.33835057648704, + 370.29476658080023, + -1.685029104471472 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -209.33835057648704, + 370.29476658080023, + -1.685029104471472 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -206.33835057648704, + 370.29476658080023, + -1.685029104471472 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -203.33835057648704, + 370.29476658080023, + -1.685029104471472 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -200.33835057648704, + 370.29476658080023, + -1.685029104471472 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -197.33835057648704, + 370.29476658080023, + -1.685029104471472 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -194.33835057648704, + 370.29476658080023, + -1.685029104471472 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -191.33835057648704, + 370.29476658080023, + -1.685029104471472 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -188.33835057648704, + 370.29476658080023, + -1.685029104471472 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -185.33835057648704, + 370.29476658080023, + -1.685029104471472 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -182.33835057648704, + 370.29476658080023, + -1.685029104471472 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -179.33835057648704, + 370.29476658080023, + -1.685029104471472 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -176.33835057648704, + 370.29476658080023, + -1.685029104471472 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -173.33835057648704, + 370.29476658080023, + -1.685029104471472 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -170.33835057648704, + 370.29476658080023, + -1.685029104471472 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -167.33835057648704, + 370.29476658080023, + -1.685029104471472 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -164.33835057648704, + 370.29476658080023, + -1.685029104471472 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -161.33835057648704, + 370.29476658080023, + -1.685029104471472 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -158.33835057648704, + 370.29476658080023, + -1.685029104471472 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -155.33835057648704, + 370.29476658080023, + -1.685029104471472 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -152.33835057648704, + 370.29476658080023, + -1.685029104471472 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -149.33835057648704, + 370.29476658080023, + -1.685029104471472 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -146.33835057648704, + 370.29476658080023, + -1.685029104471472 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -143.33835057648704, + 370.29476658080023, + -1.685029104471472 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -140.33835057648704, + 370.29476658080023, + -1.685029104471472 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -137.33835057648704, + 370.29476658080023, + -1.685029104471472 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -134.33835057648704, + 370.29476658080023, + -1.685029104471472 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -134.33835057648704, + 370.29476658080023, + -1.685029104471472 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -131.74027436513373, + 371.79476658080023, + -1.685029104471472 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -129.1421981537804, + 373.29476658080023, + -1.685029104471472 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -126.5441219424271, + 374.79476658080023, + -1.685029104471472 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -123.94604573107378, + 376.29476658080023, + -1.685029104471472 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -121.34796951972046, + 377.79476658080023, + -1.685029104471472 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -118.74989330836715, + 379.29476658080023, + -1.685029104471472 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -116.15181709701383, + 380.79476658080023, + -1.685029104471472 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -114.1546768951416, + 378.73713836669924, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_20-20-41_1105816539/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_20-20-41_1105816539/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a8a8c66a9e2112f50e9969510d5cf9fb566bab3e --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_20-20-41_1105816539/pose.jsonl @@ -0,0 +1,482 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -895.4550127177391, + 75.59281287473485, + 4.556794657177093 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -893.9550127177391, + 72.99473666338153, + 4.556794657177093 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -892.4550127177391, + 70.39666045202821, + 4.556794657177093 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -890.9550127177391, + 67.7985842406749, + 4.556794657177093 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -889.4550127177391, + 65.20050802932158, + 4.556794657177093 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -887.9550127177391, + 62.60243181796827, + 4.556794657177093 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -886.4550127177391, + 60.00435560661495, + 4.556794657177093 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -884.9550127177391, + 57.406279395261635, + 4.556794657177093 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -883.4550127177391, + 54.80820318390832, + 4.556794657177093 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -883.4550127177391, + 54.80820318390832, + 4.556794657177093 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -880.8569365063859, + 53.30820318390832, + 4.556794657177093 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -878.2588602950325, + 51.80820318390832, + 4.556794657177093 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -875.6607840836791, + 50.30820318390832, + 4.556794657177093 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -873.0627078723257, + 48.80820318390832, + 4.556794657177093 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -870.4646316609724, + 47.30820318390832, + 4.556794657177093 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -867.866555449619, + 45.80820318390832, + 4.556794657177093 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -865.2684792382656, + 44.30820318390832, + 4.556794657177093 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -862.6704030269123, + 42.80820318390832, + 4.556794657177093 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -860.0723268155589, + 41.30820318390832, + 4.556794657177093 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -857.4742506042055, + 39.80820318390832, + 4.556794657177093 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -854.8761743928521, + 38.30820318390832, + 4.556794657177093 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -852.2780981814988, + 36.80820318390832, + 4.556794657177093 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -849.6800219701454, + 35.30820318390832, + 4.556794657177093 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -847.081945758792, + 33.80820318390832, + 4.556794657177093 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -844.4838695474386, + 32.30820318390832, + 4.556794657177093 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -841.8857933360853, + 30.80820318390832, + 4.556794657177093 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -839.2877171247319, + 29.30820318390832, + 4.556794657177093 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -836.6896409133785, + 27.80820318390832, + 4.556794657177093 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -834.0915647020252, + 26.30820318390832, + 4.556794657177093 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -831.4934884906718, + 24.80820318390832, + 4.556794657177093 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -828.8954122793184, + 23.30820318390832, + 4.556794657177093 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -826.297336067965, + 21.80820318390832, + 4.556794657177093 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -826.297336067965, + 21.80820318390832, + 4.556794657177093 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -824.797336067965, + 19.210126972555003, + 4.556794657177093 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -823.297336067965, + 16.612050761201687, + 4.556794657177093 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -821.797336067965, + 14.01397454984837, + 4.556794657177093 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -821.0513497924804, + 12.496731524467467, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_20-25-34_1131884850/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_20-25-34_1131884850/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e1cd1202b27698d0c07fb1ea9ff3d3d6197dff15 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_20-25-34_1131884850/pose.jsonl @@ -0,0 +1,391 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -45.16204675947898, + 331.93939734016374, + -2.167617443559603 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -47.7601229708323, + 333.43939734016374, + -2.167617443559603 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -50.358199182185615, + 334.93939734016374, + -2.167617443559603 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -52.95627539353893, + 336.43939734016374, + -2.167617443559603 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -55.55435160489225, + 337.93939734016374, + -2.167617443559603 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -58.15242781624556, + 339.43939734016374, + -2.167617443559603 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -60.75050402759888, + 340.93939734016374, + -2.167617443559603 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -63.348580238952195, + 342.43939734016374, + -2.167617443559603 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -65.94665645030551, + 343.93939734016374, + -2.167617443559603 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -68.54473266165883, + 345.43939734016374, + -2.167617443559603 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -71.14280887301214, + 346.93939734016374, + -2.167617443559603 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -73.74088508436546, + 348.43939734016374, + -2.167617443559603 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -76.33896129571878, + 349.93939734016374, + -2.167617443559603 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -78.93703750707209, + 351.43939734016374, + -2.167617443559603 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -81.53511371842541, + 352.93939734016374, + -2.167617443559603 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -84.13318992977872, + 354.43939734016374, + -2.167617443559603 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -86.73126614113204, + 355.93939734016374, + -2.167617443559603 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -89.32934235248536, + 357.43939734016374, + -2.167617443559603 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -91.92741856383867, + 358.93939734016374, + -2.167617443559603 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -94.52549477519199, + 360.43939734016374, + -2.167617443559603 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -97.1235709865453, + 361.93939734016374, + -2.167617443559603 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -99.72164719789862, + 363.43939734016374, + -2.167617443559603 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -102.31972340925194, + 364.93939734016374, + -2.167617443559603 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -104.91779962060525, + 366.43939734016374, + -2.167617443559603 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -107.51587583195857, + 367.93939734016374, + -2.167617443559603 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -107.51587583195857, + 367.93939734016374, + -2.167617443559603 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -109.01587583195857, + 370.53747355151705, + -2.167617443559603 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -110.51587583195857, + 373.13554976287037, + -2.167617443559603 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -112.01587583195857, + 375.7336259742237, + -2.167617443559603 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -114.1546768951416, + 378.73713836669924, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_20-30-25_1735079296/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_20-30-25_1735079296/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0dc2fbb42a46f7cf78a8948a1ec7df6cb93eabe4 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_20-30-25_1735079296/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -865.4108540914859, + -42.2543263581441, + 4.713743420998821 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -863.9108540914859, + -39.65625014679078, + 4.713743420998821 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -862.4108540914859, + -37.058173935437466, + 4.713743420998821 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -860.9108540914859, + -34.46009772408415, + 4.713743420998821 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -859.4108540914859, + -31.862021512730834, + 4.713743420998821 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -857.9108540914859, + -29.263945301377518, + 4.713743420998821 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -856.4108540914859, + -26.665869090024202, + 4.713743420998821 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -854.9108540914859, + -24.067792878670886, + 4.713743420998821 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -853.4108540914859, + -21.46971666731757, + 4.713743420998821 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -851.9108540914859, + -18.871640455964254, + 4.713743420998821 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -850.4108540914859, + -16.273564244610938, + 4.713743420998821 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -848.9108540914859, + -13.675488033257622, + 4.713743420998821 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -847.4108540914859, + -11.077411821904306, + 4.713743420998821 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -845.9108540914859, + -8.47933561055099, + 4.713743420998821 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -844.4108540914859, + -5.881259399197674, + 4.713743420998821 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -842.9108540914859, + -3.283183187844358, + 4.713743420998821 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -841.4108540914859, + -0.685106976491042, + 4.713743420998821 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -839.9108540914859, + 1.912969234862274, + 4.713743420998821 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -839.9108540914859, + 1.912969234862274, + 4.713743420998821 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -837.3127778801327, + 3.412969234862274, + 4.713743420998821 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -834.7147016687793, + 4.912969234862274, + 4.713743420998821 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -832.1166254574259, + 6.412969234862274, + 4.713743420998821 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -829.5185492460726, + 7.912969234862274, + 4.713743420998821 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -826.9204730347192, + 9.412969234862274, + 4.713743420998821 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -824.3223968233658, + 10.912969234862274, + 4.713743420998821 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -821.0513497924804, + 12.496731524467467, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_20-31-40_1785550551/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_20-31-40_1785550551/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6e393f1dc9c98484931874020dd01c344148ff09 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_20-31-40_1785550551/pose.jsonl @@ -0,0 +1,300 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -969.7276750476958, + 292.94364224197363, + 1.0203839937195767 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -969.7276750476958, + 295.94364224197363, + 1.0203839937195767 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -969.7276750476958, + 298.94364224197363, + 1.0203839937195767 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -969.7276750476958, + 301.94364224197363, + 1.0203839937195767 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -969.7276750476958, + 304.94364224197363, + 1.0203839937195767 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -969.7276750476958, + 307.94364224197363, + 1.0203839937195767 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -969.7276750476958, + 310.94364224197363, + 1.0203839937195767 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -969.7276750476958, + 313.94364224197363, + 1.0203839937195767 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -969.7276750476958, + 316.94364224197363, + 1.0203839937195767 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -969.7276750476958, + 319.94364224197363, + 1.0203839937195767 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -969.7276750476958, + 322.94364224197363, + 1.0203839937195767 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -969.7276750476958, + 325.94364224197363, + 1.0203839937195767 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -969.7276750476958, + 328.94364224197363, + 1.0203839937195767 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -969.7276750476958, + 331.94364224197363, + 1.0203839937195767 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -969.7276750476958, + 334.94364224197363, + 1.0203839937195767 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -969.7276750476958, + 337.94364224197363, + 1.0203839937195767 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -969.7276750476958, + 337.94364224197363, + 1.0203839937195767 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -969.7276750476958, + 337.94364224197363, + 1.0203839937195767 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -972.3257512590492, + 339.44364224197363, + 1.0203839937195767 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -974.9238274704026, + 340.94364224197363, + 1.0203839937195767 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -974.9238274704026, + 340.94364224197363, + 1.0203839937195767 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -976.4238274704026, + 343.54171845332695, + 1.0203839937195767 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393205 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -979.8297436523437, + 358.6925830078125, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_20-32-59_1078898506/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_20-32-59_1078898506/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..85472505a90b468d68878cf02d1f54a3cede6f9a --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_20-32-59_1078898506/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 159.84484085343124, + 733.4670086939053, + 2.8684615203849315 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 162.84484085343124, + 733.4670086939053, + 2.8684615203849315 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 165.84484085343124, + 733.4670086939053, + 2.8684615203849315 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 165.84484085343124, + 733.4670086939053, + 2.8684615203849315 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 165.84484085343124, + 733.4670086939053, + 2.8684615203849315 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 167.34484085343124, + 736.0650849052586, + 2.8684615203849315 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 168.84484085343124, + 738.663161116612, + 2.8684615203849315 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 170.34484085343124, + 741.2612373279653, + 2.8684615203849315 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 171.84484085343124, + 743.8593135393187, + 2.8684615203849315 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 173.34484085343124, + 746.4573897506721, + 2.8684615203849315 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 174.84484085343124, + 749.0554659620254, + 2.8684615203849315 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 176.34484085343124, + 751.6535421733788, + 2.8684615203849315 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 177.84484085343124, + 754.2516183847322, + 2.8684615203849315 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 179.34484085343124, + 756.8496945960856, + 2.8684615203849315 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 180.84484085343124, + 759.4477708074389, + 2.8684615203849315 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 182.34484085343124, + 762.0458470187923, + 2.8684615203849315 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 183.84484085343124, + 764.6439232301457, + 2.8684615203849315 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 183.84484085343124, + 764.6439232301457, + 2.8684615203849315 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 186.44291706478455, + 766.1439232301457, + 2.8684615203849315 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 189.04099327613787, + 767.6439232301457, + 2.8684615203849315 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 191.63906948749118, + 769.1439232301457, + 2.8684615203849315 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 194.2371456988445, + 770.6439232301457, + 2.8684615203849315 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 196.83522191019782, + 772.1439232301457, + 2.8684615203849315 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 199.43329812155113, + 773.6439232301457, + 2.8684615203849315 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 201.67972503662108, + 776.560556640625, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_20-38-14_580508860/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_20-38-14_580508860/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9420b3c2980137b3c24f15f2c0c04641e846e82e --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_20-38-14_580508860/pose.jsonl @@ -0,0 +1,495 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -151.1541665674922, + -569.1321930863251, + 1.8056119941957522 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -152.6541665674922, + -566.5341168749717, + 1.8056119941957522 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -154.1541665674922, + -563.9360406636183, + 1.8056119941957522 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -155.6541665674922, + -561.3379644522649, + 1.8056119941957522 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -157.1541665674922, + -558.7398882409116, + 1.8056119941957522 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -158.6541665674922, + -556.1418120295582, + 1.8056119941957522 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -160.1541665674922, + -553.5437358182048, + 1.8056119941957522 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -161.6541665674922, + -550.9456596068515, + 1.8056119941957522 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -163.1541665674922, + -548.3475833954981, + 1.8056119941957522 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -164.6541665674922, + -545.7495071841447, + 1.8056119941957522 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -166.1541665674922, + -543.1514309727913, + 1.8056119941957522 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -167.6541665674922, + -540.553354761438, + 1.8056119941957522 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -169.1541665674922, + -537.9552785500846, + 1.8056119941957522 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -170.6541665674922, + -535.3572023387312, + 1.8056119941957522 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -172.1541665674922, + -532.7591261273778, + 1.8056119941957522 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -173.6541665674922, + -530.1610499160245, + 1.8056119941957522 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -175.1541665674922, + -527.5629737046711, + 1.8056119941957522 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -175.1541665674922, + -527.5629737046711, + 1.8056119941957522 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -175.1541665674922, + -524.5629737046711, + 1.8056119941957522 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -175.1541665674922, + -521.5629737046711, + 1.8056119941957522 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -175.1541665674922, + -518.5629737046711, + 1.8056119941957522 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -175.1541665674922, + -515.5629737046711, + 1.8056119941957522 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -175.1541665674922, + -512.5629737046711, + 1.8056119941957522 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -175.1541665674922, + -509.5629737046711, + 1.8056119941957522 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -175.1541665674922, + -506.5629737046711, + 1.8056119941957522 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -175.1541665674922, + -503.5629737046711, + 1.8056119941957522 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -175.1541665674922, + -500.5629737046711, + 1.8056119941957522 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -175.1541665674922, + -497.5629737046711, + 1.8056119941957522 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -175.1541665674922, + -494.5629737046711, + 1.8056119941957522 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -175.1541665674922, + -491.5629737046711, + 1.8056119941957522 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -175.1541665674922, + -488.5629737046711, + 1.8056119941957522 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -175.1541665674922, + -485.5629737046711, + 1.8056119941957522 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -175.1541665674922, + -482.5629737046711, + 1.8056119941957522 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -175.1541665674922, + -479.5629737046711, + 1.8056119941957522 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -175.1541665674922, + -476.5629737046711, + 1.8056119941957522 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -175.1541665674922, + -473.5629737046711, + 1.8056119941957522 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -175.1541665674922, + -470.5629737046711, + 1.8056119941957522 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -175.02334197998047, + -467.78616867065426, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_20-44-2_1326247643/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_20-44-2_1326247643/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0961967bbc67e8795359eeb989e9f2115d4b43b8 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_20-44-2_1326247643/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 267.5362491603193, + 785.137034012618, + 4.200150781990304 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 264.5362491603193, + 785.137034012618, + 4.200150781990304 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 261.5362491603193, + 785.137034012618, + 4.200150781990304 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 258.5362491603193, + 785.137034012618, + 4.200150781990304 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 255.5362491603193, + 785.137034012618, + 4.200150781990304 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 252.5362491603193, + 785.137034012618, + 4.200150781990304 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 249.5362491603193, + 785.137034012618, + 4.200150781990304 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 246.5362491603193, + 785.137034012618, + 4.200150781990304 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 243.5362491603193, + 785.137034012618, + 4.200150781990304 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 240.5362491603193, + 785.137034012618, + 4.200150781990304 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 237.5362491603193, + 785.137034012618, + 4.200150781990304 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 234.5362491603193, + 785.137034012618, + 4.200150781990304 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 231.5362491603193, + 785.137034012618, + 4.200150781990304 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 228.5362491603193, + 785.137034012618, + 4.200150781990304 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 225.5362491603193, + 785.137034012618, + 4.200150781990304 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 222.5362491603193, + 785.137034012618, + 4.200150781990304 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 222.5362491603193, + 785.137034012618, + 4.200150781990304 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 219.93817294896598, + 783.637034012618, + 4.200150781990304 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 217.34009673761267, + 782.137034012618, + 4.200150781990304 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 214.74202052625935, + 780.637034012618, + 4.200150781990304 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 212.14394431490604, + 779.137034012618, + 4.200150781990304 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 209.54586810355272, + 777.637034012618, + 4.200150781990304 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 206.9477918921994, + 776.137034012618, + 4.200150781990304 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 204.3497156808461, + 774.637034012618, + 4.200150781990304 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 201.67972503662108, + 776.560556640625, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_20-45-5_164826621/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_20-45-5_164826621/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4f35efd0089e03c48bfc3f00c5cdac492a4120d5 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_20-45-5_164826621/pose.jsonl @@ -0,0 +1,560 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 44.30621527886652, + -260.2750212865588, + 2.864967946407625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 47.30621527886652, + -260.2750212865588, + 2.864967946407625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 50.30621527886652, + -260.2750212865588, + 2.864967946407625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 53.30621527886652, + -260.2750212865588, + 2.864967946407625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 56.30621527886652, + -260.2750212865588, + 2.864967946407625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 59.30621527886652, + -260.2750212865588, + 2.864967946407625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 62.30621527886652, + -260.2750212865588, + 2.864967946407625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 65.30621527886652, + -260.2750212865588, + 2.864967946407625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 68.30621527886652, + -260.2750212865588, + 2.864967946407625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 71.30621527886652, + -260.2750212865588, + 2.864967946407625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 74.30621527886652, + -260.2750212865588, + 2.864967946407625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 77.30621527886652, + -260.2750212865588, + 2.864967946407625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 80.30621527886652, + -260.2750212865588, + 2.864967946407625 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 80.30621527886652, + -260.2750212865588, + 2.864967946407625 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 82.90429149021983, + -261.7750212865588, + 2.864967946407625 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 85.50236770157315, + -263.2750212865588, + 2.864967946407625 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 88.10044391292647, + -264.7750212865588, + 2.864967946407625 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 90.69852012427978, + -266.2750212865588, + 2.864967946407625 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 93.2965963356331, + -267.7750212865588, + 2.864967946407625 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 95.89467254698641, + -269.2750212865588, + 2.864967946407625 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 98.49274875833973, + -270.7750212865588, + 2.864967946407625 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 101.09082496969305, + -272.2750212865588, + 2.864967946407625 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 103.68890118104636, + -273.7750212865588, + 2.864967946407625 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 106.28697739239968, + -275.2750212865588, + 2.864967946407625 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 108.885053603753, + -276.7750212865588, + 2.864967946407625 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 111.48312981510631, + -278.2750212865588, + 2.864967946407625 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 114.08120602645963, + -279.7750212865588, + 2.864967946407625 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 116.67928223781294, + -281.2750212865588, + 2.864967946407625 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 119.27735844916626, + -282.7750212865588, + 2.864967946407625 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 121.87543466051957, + -284.2750212865588, + 2.864967946407625 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 124.47351087187289, + -285.7750212865588, + 2.864967946407625 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 127.0715870832262, + -287.2750212865588, + 2.864967946407625 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 129.66966329457952, + -288.7750212865588, + 2.864967946407625 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 132.26773950593284, + -290.2750212865588, + 2.864967946407625 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 134.86581571728615, + -291.7750212865588, + 2.864967946407625 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 137.46389192863947, + -293.2750212865588, + 2.864967946407625 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 140.06196813999279, + -294.7750212865588, + 2.864967946407625 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 142.6600443513461, + -296.2750212865588, + 2.864967946407625 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 145.25812056269942, + -297.7750212865588, + 2.864967946407625 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 147.85619677405273, + -299.2750212865588, + 2.864967946407625 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 150.45427298540605, + -300.7750212865588, + 2.864967946407625 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 153.05234919675937, + -302.2750212865588, + 2.864967946407625 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 156.50516716003418, + -301.9973617553711, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_20-48-1_216220853/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_20-48-1_216220853/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5f68f2ea53ab665ceaee2cc4ebd97b48d73f0f04 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_20-48-1_216220853/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 298.58265272194626, + 695.072903965555, + -4.897549267916276 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 295.58265272194626, + 695.072903965555, + -4.897549267916276 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 292.58265272194626, + 695.072903965555, + -4.897549267916276 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 289.58265272194626, + 695.072903965555, + -4.897549267916276 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 286.58265272194626, + 695.072903965555, + -4.897549267916276 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 283.58265272194626, + 695.072903965555, + -4.897549267916276 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 280.58265272194626, + 695.072903965555, + -4.897549267916276 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 277.58265272194626, + 695.072903965555, + -4.897549267916276 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 274.58265272194626, + 695.072903965555, + -4.897549267916276 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 271.58265272194626, + 695.072903965555, + -4.897549267916276 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 268.58265272194626, + 695.072903965555, + -4.897549267916276 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 265.58265272194626, + 695.072903965555, + -4.897549267916276 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 262.58265272194626, + 695.072903965555, + -4.897549267916276 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 259.58265272194626, + 695.072903965555, + -4.897549267916276 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 256.58265272194626, + 695.072903965555, + -4.897549267916276 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 253.58265272194626, + 695.072903965555, + -4.897549267916276 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 250.58265272194626, + 695.072903965555, + -4.897549267916276 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 247.58265272194626, + 695.072903965555, + -4.897549267916276 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 244.58265272194626, + 695.072903965555, + -4.897549267916276 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 241.58265272194626, + 695.072903965555, + -4.897549267916276 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 238.58265272194626, + 695.072903965555, + -4.897549267916276 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 235.58265272194626, + 695.072903965555, + -4.897549267916276 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 232.58265272194626, + 695.072903965555, + -4.897549267916276 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 229.58265272194626, + 695.072903965555, + -4.897549267916276 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 229.58265272194626, + 695.072903965555, + -4.897549267916276 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 226.98457651059294, + 693.572903965555, + -4.897549267916276 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 224.38650029923963, + 692.072903965555, + -4.897549267916276 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 222.9949237060547, + 690.6306562805175, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_20-50-22_584522071/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_20-50-22_584522071/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..029cca8d19a5b2d562be4c51b387b61f9c3ff89f --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_20-50-22_584522071/pose.jsonl @@ -0,0 +1,560 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 246.79939856428618, + -108.83546864397886, + -1.4403145543295754 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 249.79939856428618, + -108.83546864397886, + -1.4403145543295754 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 252.79939856428618, + -108.83546864397886, + -1.4403145543295754 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 255.79939856428618, + -108.83546864397886, + -1.4403145543295754 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 258.7993985642862, + -108.83546864397886, + -1.4403145543295754 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 261.7993985642862, + -108.83546864397886, + -1.4403145543295754 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 264.7993985642862, + -108.83546864397886, + -1.4403145543295754 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 267.7993985642862, + -108.83546864397886, + -1.4403145543295754 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 270.7993985642862, + -108.83546864397886, + -1.4403145543295754 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 273.7993985642862, + -108.83546864397886, + -1.4403145543295754 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 276.7993985642862, + -108.83546864397886, + -1.4403145543295754 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 279.7993985642862, + -108.83546864397886, + -1.4403145543295754 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 282.7993985642862, + -108.83546864397886, + -1.4403145543295754 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 285.7993985642862, + -108.83546864397886, + -1.4403145543295754 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 288.7993985642862, + -108.83546864397886, + -1.4403145543295754 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 291.7993985642862, + -108.83546864397886, + -1.4403145543295754 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 294.7993985642862, + -108.83546864397886, + -1.4403145543295754 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 297.7993985642862, + -108.83546864397886, + -1.4403145543295754 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 300.7993985642862, + -108.83546864397886, + -1.4403145543295754 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 303.7993985642862, + -108.83546864397886, + -1.4403145543295754 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 306.7993985642862, + -108.83546864397886, + -1.4403145543295754 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 309.7993985642862, + -108.83546864397886, + -1.4403145543295754 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 312.7993985642862, + -108.83546864397886, + -1.4403145543295754 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 312.7993985642862, + -108.83546864397886, + -1.4403145543295754 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 315.3974747756395, + -107.33546864397886, + -1.4403145543295754 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 317.99555098699284, + -105.83546864397886, + -1.4403145543295754 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 320.59362719834616, + -104.33546864397886, + -1.4403145543295754 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 323.19170340969947, + -102.83546864397886, + -1.4403145543295754 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 325.7897796210528, + -101.33546864397886, + -1.4403145543295754 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 328.3878558324061, + -99.83546864397886, + -1.4403145543295754 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 330.9859320437594, + -98.33546864397886, + -1.4403145543295754 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 333.58400825511274, + -96.83546864397886, + -1.4403145543295754 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 336.18208446646605, + -95.33546864397886, + -1.4403145543295754 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 338.78016067781937, + -93.83546864397886, + -1.4403145543295754 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 341.3782368891727, + -92.33546864397886, + -1.4403145543295754 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 343.976313100526, + -90.83546864397886, + -1.4403145543295754 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 346.5743893118793, + -89.33546864397886, + -1.4403145543295754 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 349.17246552323263, + -87.83546864397886, + -1.4403145543295754 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 351.77054173458595, + -86.33546864397886, + -1.4403145543295754 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 354.36861794593926, + -84.83546864397886, + -1.4403145543295754 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 356.9666941572926, + -83.33546864397886, + -1.4403145543295754 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 359.5647703686459, + -81.83546864397886, + -1.4403145543295754 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 361.61789932250974, + -80.46325607299805, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_20-51-42_1892430639/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_20-51-42_1892430639/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c0a7f2a0bdd8cb3eadff2894f9e1931cacd190fa --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_20-51-42_1892430639/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -381.35052925578293, + -131.05174711269652, + -4.515737209163348 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -383.94860546713625, + -132.55174711269652, + -4.515737209163348 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -386.54668167848956, + -134.05174711269652, + -4.515737209163348 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -389.1447578898429, + -135.55174711269652, + -4.515737209163348 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -391.7428341011962, + -137.05174711269652, + -4.515737209163348 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -394.3409103125495, + -138.55174711269652, + -4.515737209163348 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -396.9389865239028, + -140.05174711269652, + -4.515737209163348 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -399.53706273525614, + -141.55174711269652, + -4.515737209163348 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -402.13513894660946, + -143.05174711269652, + -4.515737209163348 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -404.7332151579628, + -144.55174711269652, + -4.515737209163348 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -407.3312913693161, + -146.05174711269652, + -4.515737209163348 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -409.9293675806694, + -147.55174711269652, + -4.515737209163348 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -412.5274437920227, + -149.05174711269652, + -4.515737209163348 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -415.12552000337604, + -150.55174711269652, + -4.515737209163348 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -417.72359621472935, + -152.05174711269652, + -4.515737209163348 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -420.32167242608267, + -153.55174711269652, + -4.515737209163348 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -422.919748637436, + -155.05174711269652, + -4.515737209163348 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -425.5178248487893, + -156.55174711269652, + -4.515737209163348 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -428.1159010601426, + -158.05174711269652, + -4.515737209163348 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -430.71397727149593, + -159.55174711269652, + -4.515737209163348 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -433.31205348284925, + -161.05174711269652, + -4.515737209163348 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -433.31205348284925, + -161.05174711269652, + -4.515737209163348 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -436.31205348284925, + -161.05174711269652, + -4.515737209163348 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -439.31205348284925, + -161.05174711269652, + -4.515737209163348 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -442.31205348284925, + -161.05174711269652, + -4.515737209163348 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -445.52278427124025, + -160.4525846862793, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_20-56-23_396377017/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_20-56-23_396377017/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1a9392cad68a3bd4bcb88f41848cd352a92ee87e --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_20-56-23_396377017/pose.jsonl @@ -0,0 +1,404 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -726.7847664502466, + 219.18401521213946, + -2.1240296785326054 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -724.1866902388933, + 220.68401521213946, + -2.1240296785326054 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -721.58861402754, + 222.18401521213946, + -2.1240296785326054 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -718.9905378161866, + 223.68401521213946, + -2.1240296785326054 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -716.3924616048332, + 225.18401521213946, + -2.1240296785326054 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -713.7943853934798, + 226.68401521213946, + -2.1240296785326054 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -711.1963091821265, + 228.18401521213946, + -2.1240296785326054 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -708.5982329707731, + 229.68401521213946, + -2.1240296785326054 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -706.0001567594197, + 231.18401521213946, + -2.1240296785326054 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -703.4020805480664, + 232.68401521213946, + -2.1240296785326054 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -700.804004336713, + 234.18401521213946, + -2.1240296785326054 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -698.2059281253596, + 235.68401521213946, + -2.1240296785326054 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -695.6078519140062, + 237.18401521213946, + -2.1240296785326054 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -695.6078519140062, + 237.18401521213946, + -2.1240296785326054 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -694.1078519140062, + 239.78209142349277, + -2.1240296785326054 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -692.6078519140062, + 242.3801676348461, + -2.1240296785326054 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -691.1078519140062, + 244.9782438461994, + -2.1240296785326054 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -689.6078519140062, + 247.57632005755272, + -2.1240296785326054 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -688.1078519140062, + 250.17439626890604, + -2.1240296785326054 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -686.6078519140062, + 252.77247248025935, + -2.1240296785326054 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -685.1078519140062, + 255.37054869161267, + -2.1240296785326054 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -683.6078519140062, + 257.968624902966, + -2.1240296785326054 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -682.1078519140062, + 260.5667011143193, + -2.1240296785326054 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -680.6078519140062, + 263.1647773256726, + -2.1240296785326054 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -679.1078519140062, + 265.76285353702593, + -2.1240296785326054 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -677.6078519140062, + 268.36092974837925, + -2.1240296785326054 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -676.1078519140062, + 270.95900595973256, + -2.1240296785326054 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -676.1078519140062, + 270.95900595973256, + -2.1240296785326054 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -673.5097757026529, + 272.45900595973256, + -2.1240296785326054 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -670.9116994912995, + 273.95900595973256, + -2.1240296785326054 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -669.1686190795898, + 276.07490257263186, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_20-56-38_6072641/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_20-56-38_6072641/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e0b09d35735c1febc7a784ec2a5fb9085d77e5dd --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_20-56-38_6072641/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -426.2781077298275, + -98.03359895282514, + 4.5147333540670935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -427.7781077298275, + -100.63167516417846, + 4.5147333540670935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -429.2781077298275, + -103.22975137553178, + 4.5147333540670935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -430.7781077298275, + -105.82782758688509, + 4.5147333540670935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -432.2781077298275, + -108.42590379823841, + 4.5147333540670935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -433.7781077298275, + -111.02398000959172, + 4.5147333540670935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -435.2781077298275, + -113.62205622094504, + 4.5147333540670935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -436.7781077298275, + -116.22013243229836, + 4.5147333540670935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -438.2781077298275, + -118.81820864365167, + 4.5147333540670935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -439.7781077298275, + -121.41628485500499, + 4.5147333540670935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -441.2781077298275, + -124.0143610663583, + 4.5147333540670935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -442.7781077298275, + -126.61243727771162, + 4.5147333540670935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -444.2781077298275, + -129.21051348906494, + 4.5147333540670935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -445.7781077298275, + -131.80858970041825, + 4.5147333540670935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -447.2781077298275, + -134.40666591177157, + 4.5147333540670935 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -447.2781077298275, + -134.40666591177157, + 4.5147333540670935 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -447.2781077298275, + -137.40666591177157, + 4.5147333540670935 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -447.2781077298275, + -140.40666591177157, + 4.5147333540670935 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -447.2781077298275, + -143.40666591177157, + 4.5147333540670935 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -447.2781077298275, + -146.40666591177157, + 4.5147333540670935 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -447.2781077298275, + -149.40666591177157, + 4.5147333540670935 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -447.2781077298275, + -152.40666591177157, + 4.5147333540670935 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -447.2781077298275, + -155.40666591177157, + 4.5147333540670935 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -447.2781077298275, + -158.40666591177157, + 4.5147333540670935 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -445.52278427124025, + -160.4525846862793, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_20-58-47_2060975266/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_20-58-47_2060975266/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..39695e3f0dd2804676ad30051141e33861c3e1f3 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_20-58-47_2060975266/pose.jsonl @@ -0,0 +1,521 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -746.2767540113554, + 131.95899904442746, + 0.6798862615111307 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -746.2767540113554, + 128.95899904442746, + 0.6798862615111307 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -746.2767540113554, + 125.95899904442746, + 0.6798862615111307 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -746.2767540113554, + 122.95899904442746, + 0.6798862615111307 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -746.2767540113554, + 119.95899904442746, + 0.6798862615111307 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -746.2767540113554, + 116.95899904442746, + 0.6798862615111307 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -746.2767540113554, + 113.95899904442746, + 0.6798862615111307 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -746.2767540113554, + 110.95899904442746, + 0.6798862615111307 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -746.2767540113554, + 107.95899904442746, + 0.6798862615111307 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -746.2767540113554, + 104.95899904442746, + 0.6798862615111307 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -746.2767540113554, + 101.95899904442746, + 0.6798862615111307 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -746.2767540113554, + 98.95899904442746, + 0.6798862615111307 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -746.2767540113554, + 95.95899904442746, + 0.6798862615111307 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -746.2767540113554, + 92.95899904442746, + 0.6798862615111307 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -746.2767540113554, + 89.95899904442746, + 0.6798862615111307 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -746.2767540113554, + 86.95899904442746, + 0.6798862615111307 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -746.2767540113554, + 83.95899904442746, + 0.6798862615111307 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -746.2767540113554, + 80.95899904442746, + 0.6798862615111307 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -746.2767540113554, + 77.95899904442746, + 0.6798862615111307 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -746.2767540113554, + 74.95899904442746, + 0.6798862615111307 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -746.2767540113554, + 71.95899904442746, + 0.6798862615111307 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -746.2767540113554, + 68.95899904442746, + 0.6798862615111307 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -746.2767540113554, + 65.95899904442746, + 0.6798862615111307 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -746.2767540113554, + 62.95899904442746, + 0.6798862615111307 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -746.2767540113554, + 59.95899904442746, + 0.6798862615111307 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -746.2767540113554, + 56.95899904442746, + 0.6798862615111307 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -746.2767540113554, + 53.95899904442746, + 0.6798862615111307 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -746.2767540113554, + 50.95899904442746, + 0.6798862615111307 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -746.2767540113554, + 47.95899904442746, + 0.6798862615111307 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -746.2767540113554, + 44.95899904442746, + 0.6798862615111307 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -746.2767540113554, + 44.95899904442746, + 0.6798862615111307 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -744.7767540113554, + 42.36092283307414, + 0.6798862615111307 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -743.2767540113554, + 39.762846621720826, + 0.6798862615111307 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -741.7767540113554, + 37.16477041036751, + 0.6798862615111307 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -740.2767540113554, + 34.566694199014194, + 0.6798862615111307 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -738.7767540113554, + 31.968617987660878, + 0.6798862615111307 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -737.2767540113554, + 29.37054177630756, + 0.6798862615111307 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -735.7767540113554, + 26.772465564954246, + 0.6798862615111307 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -734.2767540113554, + 24.17438935360093, + 0.6798862615111307 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -731.5441055297852, + 23.07341537475586, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_20-6-23_93189435/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_20-6-23_93189435/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7cb0a4efa329dc28105ecab9836742dde5b7ba1c --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_20-6-23_93189435/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -287.95888334296336, + -524.3549953948524, + 0.271780445386657 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -286.45888334296336, + -521.7569191834991, + 0.271780445386657 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -284.95888334296336, + -519.1588429721457, + 0.271780445386657 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -283.45888334296336, + -516.5607667607924, + 0.271780445386657 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -281.95888334296336, + -513.962690549439, + 0.271780445386657 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -280.45888334296336, + -511.3646143380857, + 0.271780445386657 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -278.95888334296336, + -508.76653812673237, + 0.271780445386657 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -277.45888334296336, + -506.16846191537905, + 0.271780445386657 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -275.95888334296336, + -503.57038570402574, + 0.271780445386657 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -274.45888334296336, + -500.9723094926724, + 0.271780445386657 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -272.95888334296336, + -498.3742332813191, + 0.271780445386657 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -272.95888334296336, + -498.3742332813191, + 0.271780445386657 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -272.95888334296336, + -495.3742332813191, + 0.271780445386657 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -272.95888334296336, + -492.3742332813191, + 0.271780445386657 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -272.95888334296336, + -489.3742332813191, + 0.271780445386657 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -272.95888334296336, + -486.3742332813191, + 0.271780445386657 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -272.95888334296336, + -483.3742332813191, + 0.271780445386657 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -272.95888334296336, + -480.3742332813191, + 0.271780445386657 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -272.95888334296336, + -477.3742332813191, + 0.271780445386657 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -272.95888334296336, + -474.3742332813191, + 0.271780445386657 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -272.95888334296336, + -471.3742332813191, + 0.271780445386657 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -272.95888334296336, + -471.3742332813191, + 0.271780445386657 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -271.45888334296336, + -468.7761570699658, + 0.271780445386657 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -270.6246540832519, + -464.87673126220704, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_20-6-36_181271232/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_20-6-36_181271232/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4f0771123eef2ab5aa2ff48db897dd9c16c3ffef --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_20-6-36_181271232/pose.jsonl @@ -0,0 +1,521 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 143.31001794823607, + 187.60801372118965, + 0.9893371341889594 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 140.31001794823607, + 187.60801372118965, + 0.9893371341889594 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 137.31001794823607, + 187.60801372118965, + 0.9893371341889594 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 134.31001794823607, + 187.60801372118965, + 0.9893371341889594 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 131.31001794823607, + 187.60801372118965, + 0.9893371341889594 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 128.31001794823607, + 187.60801372118965, + 0.9893371341889594 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 125.31001794823607, + 187.60801372118965, + 0.9893371341889594 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 122.31001794823607, + 187.60801372118965, + 0.9893371341889594 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 119.31001794823607, + 187.60801372118965, + 0.9893371341889594 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 116.31001794823607, + 187.60801372118965, + 0.9893371341889594 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 113.31001794823607, + 187.60801372118965, + 0.9893371341889594 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 110.31001794823607, + 187.60801372118965, + 0.9893371341889594 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 107.31001794823607, + 187.60801372118965, + 0.9893371341889594 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 104.31001794823607, + 187.60801372118965, + 0.9893371341889594 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 101.31001794823607, + 187.60801372118965, + 0.9893371341889594 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 98.31001794823607, + 187.60801372118965, + 0.9893371341889594 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 95.31001794823607, + 187.60801372118965, + 0.9893371341889594 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 92.31001794823607, + 187.60801372118965, + 0.9893371341889594 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 89.31001794823607, + 187.60801372118965, + 0.9893371341889594 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 86.31001794823607, + 187.60801372118965, + 0.9893371341889594 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 83.31001794823607, + 187.60801372118965, + 0.9893371341889594 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 83.31001794823607, + 187.60801372118965, + 0.9893371341889594 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 80.71194173688275, + 186.10801372118965, + 0.9893371341889594 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 78.11386552552943, + 184.60801372118965, + 0.9893371341889594 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 75.51578931417612, + 183.10801372118965, + 0.9893371341889594 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 72.9177131028228, + 181.60801372118965, + 0.9893371341889594 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 70.31963689146949, + 180.10801372118965, + 0.9893371341889594 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 67.72156068011617, + 178.60801372118965, + 0.9893371341889594 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 65.12348446876285, + 177.10801372118965, + 0.9893371341889594 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 62.52540825740954, + 175.60801372118965, + 0.9893371341889594 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 59.92733204605622, + 174.10801372118965, + 0.9893371341889594 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 57.329255834702906, + 172.60801372118965, + 0.9893371341889594 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 54.73117962334959, + 171.10801372118965, + 0.9893371341889594 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 52.133103411996274, + 169.60801372118965, + 0.9893371341889594 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 49.53502720064296, + 168.10801372118965, + 0.9893371341889594 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 46.93695098928964, + 166.60801372118965, + 0.9893371341889594 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 44.338874777936326, + 165.10801372118965, + 0.9893371341889594 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 41.74079856658301, + 163.60801372118965, + 0.9893371341889594 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 39.142722355229694, + 162.10801372118965, + 0.9893371341889594 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 36.64368785858154, + 161.94002262115478, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_20-7-33_199411898/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_20-7-33_199411898/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2df1c81f0e8d60a91244b313c510a6b2d87454b7 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_20-7-33_199411898/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 129.32107776252974, + 779.9379162182998, + 3.1181806638159664 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 132.32107776252974, + 779.9379162182998, + 3.1181806638159664 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 135.32107776252974, + 779.9379162182998, + 3.1181806638159664 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 138.32107776252974, + 779.9379162182998, + 3.1181806638159664 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 141.32107776252974, + 779.9379162182998, + 3.1181806638159664 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 144.32107776252974, + 779.9379162182998, + 3.1181806638159664 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 147.32107776252974, + 779.9379162182998, + 3.1181806638159664 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 150.32107776252974, + 779.9379162182998, + 3.1181806638159664 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 153.32107776252974, + 779.9379162182998, + 3.1181806638159664 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 156.32107776252974, + 779.9379162182998, + 3.1181806638159664 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 159.32107776252974, + 779.9379162182998, + 3.1181806638159664 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 162.32107776252974, + 779.9379162182998, + 3.1181806638159664 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 165.32107776252974, + 779.9379162182998, + 3.1181806638159664 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 168.32107776252974, + 779.9379162182998, + 3.1181806638159664 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 171.32107776252974, + 779.9379162182998, + 3.1181806638159664 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 174.32107776252974, + 779.9379162182998, + 3.1181806638159664 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 177.32107776252974, + 779.9379162182998, + 3.1181806638159664 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 180.32107776252974, + 779.9379162182998, + 3.1181806638159664 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 183.32107776252974, + 779.9379162182998, + 3.1181806638159664 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 186.32107776252974, + 779.9379162182998, + 3.1181806638159664 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 189.32107776252974, + 779.9379162182998, + 3.1181806638159664 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 192.32107776252974, + 779.9379162182998, + 3.1181806638159664 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 195.32107776252974, + 779.9379162182998, + 3.1181806638159664 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 198.32107776252974, + 779.9379162182998, + 3.1181806638159664 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 198.32107776252974, + 779.9379162182998, + 3.1181806638159664 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 198.32107776252974, + 779.9379162182998, + 3.1181806638159664 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 199.82107776252974, + 777.3398400069466, + 3.1181806638159664 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965976 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 201.67972503662108, + 776.560556640625, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-1-4_1000372555/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-1-4_1000372555/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e219f3d111b86aa0779a86ecac417bf2094d36c6 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-1-4_1000372555/pose.jsonl @@ -0,0 +1,456 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -748.5638461658317, + 38.193761864601285, + 3.99299923623777 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -747.0638461658317, + 40.7918380759546, + 3.99299923623777 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -745.5638461658317, + 43.38991428730792, + 3.99299923623777 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -744.0638461658317, + 45.98799049866123, + 3.99299923623777 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -742.5638461658317, + 48.58606671001455, + 3.99299923623777 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -741.0638461658317, + 51.184142921367865, + 3.99299923623777 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -739.5638461658317, + 53.78221913272118, + 3.99299923623777 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -738.0638461658317, + 56.3802953440745, + 3.99299923623777 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -736.5638461658317, + 58.97837155542781, + 3.99299923623777 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -735.0638461658317, + 61.57644776678113, + 3.99299923623777 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -733.5638461658317, + 64.17452397813445, + 3.99299923623777 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -732.0638461658317, + 66.77260018948776, + 3.99299923623777 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -730.5638461658317, + 69.37067640084108, + 3.99299923623777 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -729.0638461658317, + 71.9687526121944, + 3.99299923623777 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -727.5638461658317, + 74.56682882354771, + 3.99299923623777 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -726.0638461658317, + 77.16490503490103, + 3.99299923623777 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -724.5638461658317, + 79.76298124625434, + 3.99299923623777 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -723.0638461658317, + 82.36105745760766, + 3.99299923623777 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -721.5638461658317, + 84.95913366896097, + 3.99299923623777 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -720.0638461658317, + 87.55720988031429, + 3.99299923623777 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -720.0638461658317, + 87.55720988031429, + 3.99299923623777 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -717.4657699544784, + 89.05720988031429, + 3.99299923623777 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -714.8676937431251, + 90.55720988031429, + 3.99299923623777 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -712.2696175317717, + 92.05720988031429, + 3.99299923623777 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -709.6715413204183, + 93.55720988031429, + 3.99299923623777 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -707.073465109065, + 95.05720988031429, + 3.99299923623777 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -704.4753888977116, + 96.55720988031429, + 3.99299923623777 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -701.8773126863582, + 98.05720988031429, + 3.99299923623777 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -699.2792364750048, + 99.55720988031429, + 3.99299923623777 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -696.6811602636515, + 101.05720988031429, + 3.99299923623777 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -694.0830840522981, + 102.55720988031429, + 3.99299923623777 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -691.4850078409447, + 104.05720988031429, + 3.99299923623777 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -688.8869316295913, + 105.55720988031429, + 3.99299923623777 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -686.288855418238, + 107.05720988031429, + 3.99299923623777 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -682.7478131103516, + 107.50352409362793, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-15-11_1143195511/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-15-11_1143195511/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0f59c573dbdd052a0f3b4998234e8a4626687e1d --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-15-11_1143195511/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 493.4654828393855, + 80.62609150931773, + 0.2729468488674023 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 493.4654828393855, + 77.62609150931773, + 0.2729468488674023 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 493.4654828393855, + 74.62609150931773, + 0.2729468488674023 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 493.4654828393855, + 71.62609150931773, + 0.2729468488674023 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 493.4654828393855, + 68.62609150931773, + 0.2729468488674023 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 493.4654828393855, + 65.62609150931773, + 0.2729468488674023 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 493.4654828393855, + 62.62609150931773, + 0.2729468488674023 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 493.4654828393855, + 59.62609150931773, + 0.2729468488674023 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 493.4654828393855, + 56.62609150931773, + 0.2729468488674023 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 493.4654828393855, + 53.62609150931773, + 0.2729468488674023 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 493.4654828393855, + 50.62609150931773, + 0.2729468488674023 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 493.4654828393855, + 47.62609150931773, + 0.2729468488674023 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 493.4654828393855, + 44.62609150931773, + 0.2729468488674023 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 493.4654828393855, + 41.62609150931773, + 0.2729468488674023 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 493.4654828393855, + 41.62609150931773, + 0.2729468488674023 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 491.9654828393855, + 39.028015297964416, + 0.2729468488674023 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 490.4654828393855, + 36.4299390866111, + 0.2729468488674023 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 488.9654828393855, + 33.831862875257784, + 0.2729468488674023 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 487.4654828393855, + 31.233786663904468, + 0.2729468488674023 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 485.9654828393855, + 28.63571045255115, + 0.2729468488674023 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 484.4654828393855, + 26.037634241197836, + 0.2729468488674023 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 482.9654828393855, + 23.43955802984452, + 0.2729468488674023 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 481.4654828393855, + 20.841481818491204, + 0.2729468488674023 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 481.2035136413574, + 19.23793586730957, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-16-14_190113083/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-16-14_190113083/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b992b6d24c1bd2205b17168d36a5bd6a5325d9b0 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-16-14_190113083/pose.jsonl @@ -0,0 +1,573 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -710.0727235194415, + 108.25203821672581, + 3.4451755493906884 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -710.0727235194415, + 111.25203821672581, + 3.4451755493906884 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -710.0727235194415, + 114.25203821672581, + 3.4451755493906884 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -710.0727235194415, + 117.25203821672581, + 3.4451755493906884 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -710.0727235194415, + 120.25203821672581, + 3.4451755493906884 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -710.0727235194415, + 123.25203821672581, + 3.4451755493906884 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -710.0727235194415, + 126.25203821672581, + 3.4451755493906884 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -710.0727235194415, + 129.2520382167258, + 3.4451755493906884 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -710.0727235194415, + 132.2520382167258, + 3.4451755493906884 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -710.0727235194415, + 135.2520382167258, + 3.4451755493906884 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -710.0727235194415, + 138.2520382167258, + 3.4451755493906884 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -710.0727235194415, + 141.2520382167258, + 3.4451755493906884 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -710.0727235194415, + 144.2520382167258, + 3.4451755493906884 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -710.0727235194415, + 147.2520382167258, + 3.4451755493906884 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -710.0727235194415, + 150.2520382167258, + 3.4451755493906884 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -710.0727235194415, + 153.2520382167258, + 3.4451755493906884 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -710.0727235194415, + 156.2520382167258, + 3.4451755493906884 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -710.0727235194415, + 159.2520382167258, + 3.4451755493906884 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -710.0727235194415, + 162.2520382167258, + 3.4451755493906884 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -710.0727235194415, + 165.2520382167258, + 3.4451755493906884 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -710.0727235194415, + 168.2520382167258, + 3.4451755493906884 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -710.0727235194415, + 171.2520382167258, + 3.4451755493906884 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -710.0727235194415, + 174.2520382167258, + 3.4451755493906884 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -710.0727235194415, + 177.2520382167258, + 3.4451755493906884 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -710.0727235194415, + 180.2520382167258, + 3.4451755493906884 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -710.0727235194415, + 183.2520382167258, + 3.4451755493906884 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -710.0727235194415, + 186.2520382167258, + 3.4451755493906884 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -710.0727235194415, + 189.2520382167258, + 3.4451755493906884 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -710.0727235194415, + 192.2520382167258, + 3.4451755493906884 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -710.0727235194415, + 195.2520382167258, + 3.4451755493906884 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -710.0727235194415, + 198.2520382167258, + 3.4451755493906884 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -710.0727235194415, + 201.2520382167258, + 3.4451755493906884 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -710.0727235194415, + 204.2520382167258, + 3.4451755493906884 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -710.0727235194415, + 207.2520382167258, + 3.4451755493906884 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -710.0727235194415, + 210.2520382167258, + 3.4451755493906884 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -710.0727235194415, + 213.2520382167258, + 3.4451755493906884 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -710.0727235194415, + 216.2520382167258, + 3.4451755493906884 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -710.0727235194415, + 219.2520382167258, + 3.4451755493906884 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -710.0727235194415, + 219.2520382167258, + 3.4451755493906884 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -710.0727235194415, + 219.2520382167258, + 3.4451755493906884 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -712.6707997307949, + 220.7520382167258, + 3.4451755493906884 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -715.2688759421483, + 222.2520382167258, + 3.4451755493906884 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -717.8669521535016, + 223.7520382167258, + 3.4451755493906884 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -719.2420056152343, + 225.9435828399658, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-16-34_44041351/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-16-34_44041351/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7f5e2ec8af12b86ad084038cb6432a86d811739b --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-16-34_44041351/pose.jsonl @@ -0,0 +1,391 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 127.21530012198916, + 740.026664475346, + 3.5968943231152046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 130.21530012198917, + 740.026664475346, + 3.5968943231152046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 133.21530012198917, + 740.026664475346, + 3.5968943231152046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 136.21530012198917, + 740.026664475346, + 3.5968943231152046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 139.21530012198917, + 740.026664475346, + 3.5968943231152046 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 139.21530012198917, + 740.026664475346, + 3.5968943231152046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 141.8133763333425, + 741.526664475346, + 3.5968943231152046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 144.4114525446958, + 743.026664475346, + 3.5968943231152046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 147.00952875604912, + 744.526664475346, + 3.5968943231152046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 149.60760496740244, + 746.026664475346, + 3.5968943231152046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 152.20568117875575, + 747.526664475346, + 3.5968943231152046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 154.80375739010907, + 749.026664475346, + 3.5968943231152046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 157.40183360146239, + 750.526664475346, + 3.5968943231152046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 159.9999098128157, + 752.026664475346, + 3.5968943231152046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 162.59798602416902, + 753.526664475346, + 3.5968943231152046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 165.19606223552233, + 755.026664475346, + 3.5968943231152046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 167.79413844687565, + 756.526664475346, + 3.5968943231152046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 170.39221465822897, + 758.026664475346, + 3.5968943231152046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 172.99029086958228, + 759.526664475346, + 3.5968943231152046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 175.5883670809356, + 761.026664475346, + 3.5968943231152046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 178.1864432922889, + 762.526664475346, + 3.5968943231152046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 180.78451950364223, + 764.026664475346, + 3.5968943231152046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 183.38259571499555, + 765.526664475346, + 3.5968943231152046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 185.98067192634886, + 767.026664475346, + 3.5968943231152046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 188.57874813770218, + 768.526664475346, + 3.5968943231152046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 191.1768243490555, + 770.026664475346, + 3.5968943231152046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 193.7749005604088, + 771.526664475346, + 3.5968943231152046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 196.37297677176213, + 773.026664475346, + 3.5968943231152046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 198.97105298311544, + 774.526664475346, + 3.5968943231152046 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 201.67972503662108, + 776.560556640625, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-19-39_878273679/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-19-39_878273679/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3dd920b0a44aff74d5376f50b56421ae10463dd4 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-19-39_878273679/pose.jsonl @@ -0,0 +1,378 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -763.2127540279163, + 6.862177372591233, + 2.2400948378601226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -764.7127540279163, + 9.46025358394455, + 2.2400948378601226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -766.2127540279163, + 12.058329795297865, + 2.2400948378601226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -767.7127540279163, + 14.656406006651181, + 2.2400948378601226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -769.2127540279163, + 17.254482218004497, + 2.2400948378601226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -770.7127540279163, + 19.852558429357813, + 2.2400948378601226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -772.2127540279163, + 22.45063464071113, + 2.2400948378601226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -773.7127540279163, + 25.048710852064445, + 2.2400948378601226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -775.2127540279163, + 27.64678706341776, + 2.2400948378601226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -776.7127540279163, + 30.244863274771077, + 2.2400948378601226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -778.2127540279163, + 32.84293948612439, + 2.2400948378601226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -779.7127540279163, + 35.44101569747771, + 2.2400948378601226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -781.2127540279163, + 38.039091908831026, + 2.2400948378601226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -782.7127540279163, + 40.63716812018434, + 2.2400948378601226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -784.2127540279163, + 43.23524433153766, + 2.2400948378601226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -785.7127540279163, + 45.833320542890974, + 2.2400948378601226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -787.2127540279163, + 48.43139675424429, + 2.2400948378601226 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -787.2127540279163, + 48.43139675424429, + 2.2400948378601226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -787.2127540279163, + 51.43139675424429, + 2.2400948378601226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -787.2127540279163, + 54.43139675424429, + 2.2400948378601226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -787.2127540279163, + 57.43139675424429, + 2.2400948378601226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -787.2127540279163, + 60.43139675424429, + 2.2400948378601226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -787.2127540279163, + 63.43139675424429, + 2.2400948378601226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -787.2127540279163, + 66.43139675424429, + 2.2400948378601226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -787.2127540279163, + 69.43139675424429, + 2.2400948378601226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -787.2127540279163, + 72.43139675424429, + 2.2400948378601226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -787.2127540279163, + 75.43139675424429, + 2.2400948378601226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -787.2127540279163, + 78.43139675424429, + 2.2400948378601226 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -785.9369680786133, + 81.05284317016601, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-21-12_1724916170/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-21-12_1724916170/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..372d3294e457e8e141fff7664acb20b5b269f737 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-21-12_1724916170/pose.jsonl @@ -0,0 +1,560 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -393.24277901307585, + -309.9891450529468, + -0.4233833717346105 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -391.74277901307585, + -312.5872212643001, + -0.4233833717346105 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -390.24277901307585, + -315.18529747565344, + -0.4233833717346105 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -388.74277901307585, + -317.78337368700676, + -0.4233833717346105 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -387.24277901307585, + -320.3814498983601, + -0.4233833717346105 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -385.74277901307585, + -322.9795261097134, + -0.4233833717346105 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -384.24277901307585, + -325.5776023210667, + -0.4233833717346105 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -382.74277901307585, + -328.17567853242, + -0.4233833717346105 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -381.24277901307585, + -330.77375474377334, + -0.4233833717346105 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -379.74277901307585, + -333.37183095512665, + -0.4233833717346105 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -378.24277901307585, + -335.96990716647997, + -0.4233833717346105 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -376.74277901307585, + -338.5679833778333, + -0.4233833717346105 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -375.24277901307585, + -341.1660595891866, + -0.4233833717346105 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -373.74277901307585, + -343.7641358005399, + -0.4233833717346105 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -372.24277901307585, + -346.36221201189323, + -0.4233833717346105 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -370.74277901307585, + -348.96028822324655, + -0.4233833717346105 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -369.24277901307585, + -351.55836443459987, + -0.4233833717346105 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -367.74277901307585, + -354.1564406459532, + -0.4233833717346105 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -366.24277901307585, + -356.7545168573065, + -0.4233833717346105 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -364.74277901307585, + -359.3525930686598, + -0.4233833717346105 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -363.24277901307585, + -361.95066928001313, + -0.4233833717346105 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -361.74277901307585, + -364.54874549136645, + -0.4233833717346105 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -360.24277901307585, + -367.14682170271976, + -0.4233833717346105 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -358.74277901307585, + -369.7448979140731, + -0.4233833717346105 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -357.24277901307585, + -372.3429741254264, + -0.4233833717346105 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -355.74277901307585, + -374.9410503367797, + -0.4233833717346105 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -354.24277901307585, + -377.539126548133, + -0.4233833717346105 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -352.74277901307585, + -380.13720275948634, + -0.4233833717346105 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -351.24277901307585, + -382.73527897083966, + -0.4233833717346105 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -349.74277901307585, + -385.333355182193, + -0.4233833717346105 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -349.74277901307585, + -385.333355182193, + -0.4233833717346105 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -347.14470280172253, + -386.833355182193, + -0.4233833717346105 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -344.5466265903692, + -388.333355182193, + -0.4233833717346105 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -341.9485503790159, + -389.833355182193, + -0.4233833717346105 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -339.3504741676626, + -391.333355182193, + -0.4233833717346105 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -336.75239795630927, + -392.833355182193, + -0.4233833717346105 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -334.15432174495595, + -394.333355182193, + -0.4233833717346105 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -331.55624553360263, + -395.833355182193, + -0.4233833717346105 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -328.9581693222493, + -397.333355182193, + -0.4233833717346105 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -326.360093110896, + -398.833355182193, + -0.4233833717346105 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -323.7620168995427, + -400.333355182193, + -0.4233833717346105 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -321.16394068818937, + -401.833355182193, + -0.4233833717346105 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -319.6267106628418, + -403.69195602416994, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-22-35_825726814/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-22-35_825726814/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bf58b0d3fd6a245ed71f88e305b255705ee72557 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-22-35_825726814/pose.jsonl @@ -0,0 +1,92 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -990.527870254479, + 241.01968119217102, + -4.818703768591421 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -992.027870254479, + 243.61775740352434, + -4.818703768591421 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -993.527870254479, + 246.21583361487765, + -4.818703768591421 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -995.027870254479, + 248.81390982623097, + -4.818703768591421 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -996.527870254479, + 251.41198603758428, + -4.818703768591421 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -998.027870254479, + 254.0100622489376, + -4.818703768591421 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1041.4117810058594, + 301.62743286132815, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-25-36_2079611790/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-25-36_2079611790/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..84d02b77a903aba5b0fb24e12284290f8ec01050 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-25-36_2079611790/pose.jsonl @@ -0,0 +1,352 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 229.34538596790105, + 709.1380447377671, + -4.188831274851874 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 227.84538596790105, + 711.7361209491205, + -4.188831274851874 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 226.34538596790105, + 714.3341971604739, + -4.188831274851874 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 224.84538596790105, + 716.9322733718273, + -4.188831274851874 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 223.34538596790105, + 719.5303495831806, + -4.188831274851874 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 221.84538596790105, + 722.128425794534, + -4.188831274851874 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 220.34538596790105, + 724.7265020058874, + -4.188831274851874 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 218.84538596790105, + 727.3245782172407, + -4.188831274851874 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 217.34538596790105, + 729.9226544285941, + -4.188831274851874 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 215.84538596790105, + 732.5207306399475, + -4.188831274851874 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 214.34538596790105, + 735.1188068513009, + -4.188831274851874 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 212.84538596790105, + 737.7168830626542, + -4.188831274851874 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 211.34538596790105, + 740.3149592740076, + -4.188831274851874 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 209.84538596790105, + 742.913035485361, + -4.188831274851874 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 208.34538596790105, + 745.5111116967144, + -4.188831274851874 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 206.84538596790105, + 748.1091879080677, + -4.188831274851874 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 205.34538596790105, + 750.7072641194211, + -4.188831274851874 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 203.84538596790105, + 753.3053403307745, + -4.188831274851874 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 203.84538596790105, + 753.3053403307745, + -4.188831274851874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 203.84538596790105, + 756.3053403307745, + -4.188831274851874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 203.84538596790105, + 759.3053403307745, + -4.188831274851874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 203.84538596790105, + 762.3053403307745, + -4.188831274851874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 203.84538596790105, + 765.3053403307745, + -4.188831274851874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 203.84538596790105, + 768.3053403307745, + -4.188831274851874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 203.84538596790105, + 771.3053403307745, + -4.188831274851874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 203.84538596790105, + 774.3053403307745, + -4.188831274851874 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 201.67972503662108, + 776.560556640625, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-26-30_616734673/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-26-30_616734673/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f81102f01da0cb7f9b93175076904db0131f9a34 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-26-30_616734673/pose.jsonl @@ -0,0 +1,521 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 102.61318577571376, + 759.488899638427, + 1.622785613904954 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 105.61318577571376, + 759.488899638427, + 1.622785613904954 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 108.61318577571376, + 759.488899638427, + 1.622785613904954 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 111.61318577571376, + 759.488899638427, + 1.622785613904954 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 114.61318577571376, + 759.488899638427, + 1.622785613904954 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 117.61318577571376, + 759.488899638427, + 1.622785613904954 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 120.61318577571376, + 759.488899638427, + 1.622785613904954 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 123.61318577571376, + 759.488899638427, + 1.622785613904954 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 126.61318577571376, + 759.488899638427, + 1.622785613904954 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 129.61318577571376, + 759.488899638427, + 1.622785613904954 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 132.61318577571376, + 759.488899638427, + 1.622785613904954 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 135.61318577571376, + 759.488899638427, + 1.622785613904954 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 138.61318577571376, + 759.488899638427, + 1.622785613904954 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 141.61318577571376, + 759.488899638427, + 1.622785613904954 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 144.61318577571376, + 759.488899638427, + 1.622785613904954 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 147.61318577571376, + 759.488899638427, + 1.622785613904954 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 150.61318577571376, + 759.488899638427, + 1.622785613904954 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 153.61318577571376, + 759.488899638427, + 1.622785613904954 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 156.61318577571376, + 759.488899638427, + 1.622785613904954 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 159.61318577571376, + 759.488899638427, + 1.622785613904954 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 162.61318577571376, + 759.488899638427, + 1.622785613904954 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 165.61318577571376, + 759.488899638427, + 1.622785613904954 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 168.61318577571376, + 759.488899638427, + 1.622785613904954 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 171.61318577571376, + 759.488899638427, + 1.622785613904954 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 174.61318577571376, + 759.488899638427, + 1.622785613904954 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 177.61318577571376, + 759.488899638427, + 1.622785613904954 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 180.61318577571376, + 759.488899638427, + 1.622785613904954 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 183.61318577571376, + 759.488899638427, + 1.622785613904954 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 186.61318577571376, + 759.488899638427, + 1.622785613904954 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 186.61318577571376, + 759.488899638427, + 1.622785613904954 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 186.61318577571376, + 759.488899638427, + 1.622785613904954 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 188.11318577571376, + 762.0869758497804, + 1.622785613904954 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 189.61318577571376, + 764.6850520611338, + 1.622785613904954 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 191.11318577571376, + 767.2831282724871, + 1.622785613904954 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 192.61318577571376, + 769.8812044838405, + 1.622785613904954 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 194.11318577571376, + 772.4792806951939, + 1.622785613904954 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 194.11318577571376, + 772.4792806951939, + 1.622785613904954 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 196.71126198706708, + 773.9792806951939, + 1.622785613904954 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 199.3093381984204, + 775.4792806951939, + 1.622785613904954 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 201.67972503662108, + 776.560556640625, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-29-52_1369678468/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-29-52_1369678468/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..37b75a793ee34e82843fa0085efaa1b04b8830f7 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-29-52_1369678468/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 487.49967339149947, + 604.2273891674737, + -0.6998965677838358 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 484.90159718014615, + 602.7273891674737, + -0.6998965677838358 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 482.30352096879284, + 601.2273891674737, + -0.6998965677838358 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 479.7054447574395, + 599.7273891674737, + -0.6998965677838358 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 477.1073685460862, + 598.2273891674737, + -0.6998965677838358 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 474.5092923347329, + 596.7273891674737, + -0.6998965677838358 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 471.9112161233796, + 595.2273891674737, + -0.6998965677838358 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 469.31313991202626, + 593.7273891674737, + -0.6998965677838358 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 466.71506370067294, + 592.2273891674737, + -0.6998965677838358 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 464.1169874893196, + 590.7273891674737, + -0.6998965677838358 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 461.5189112779663, + 589.2273891674737, + -0.6998965677838358 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 458.920835066613, + 587.7273891674737, + -0.6998965677838358 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 456.3227588552597, + 586.2273891674737, + -0.6998965677838358 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 453.72468264390636, + 584.7273891674737, + -0.6998965677838358 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 451.12660643255305, + 583.2273891674737, + -0.6998965677838358 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 448.52853022119973, + 581.7273891674737, + -0.6998965677838358 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 448.52853022119973, + 581.7273891674737, + -0.6998965677838358 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 447.02853022119973, + 579.1293129561204, + -0.6998965677838358 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 445.52853022119973, + 576.531236744767, + -0.6998965677838358 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 444.02853022119973, + 573.9331605334137, + -0.6998965677838358 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 442.52853022119973, + 571.3350843220603, + -0.6998965677838358 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 441.02853022119973, + 568.7370081107069, + -0.6998965677838358 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 439.52853022119973, + 566.1389318993536, + -0.6998965677838358 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 439.52853022119973, + 566.1389318993536, + -0.6998965677838358 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 436.9304540098464, + 564.6389318993536, + -0.6998965677838358 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914846 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 434.03729019165036, + 563.8867979431152, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-31-52_1720185677/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-31-52_1720185677/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0b6e3e263f66606de1da8e21173bd4ff77cd86d9 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-31-52_1720185677/pose.jsonl @@ -0,0 +1,352 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -813.8317240101493, + -7.3208858059044815, + -3.817004363985523 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -812.3317240101493, + -4.7228095945511654, + -3.817004363985523 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -810.8317240101493, + -2.1247333831978494, + -3.817004363985523 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -809.3317240101493, + 0.4733428281554666, + -3.817004363985523 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -807.8317240101493, + 3.0714190395087826, + -3.817004363985523 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -806.3317240101493, + 5.669495250862099, + -3.817004363985523 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -804.8317240101493, + 8.267571462215415, + -3.817004363985523 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -803.3317240101493, + 10.86564767356873, + -3.817004363985523 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -801.8317240101493, + 13.463723884922047, + -3.817004363985523 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -800.3317240101493, + 16.061800096275363, + -3.817004363985523 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -798.8317240101493, + 18.65987630762868, + -3.817004363985523 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -797.3317240101493, + 21.257952518981995, + -3.817004363985523 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -795.8317240101493, + 23.85602873033531, + -3.817004363985523 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -794.3317240101493, + 26.454104941688627, + -3.817004363985523 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -792.8317240101493, + 29.052181153041943, + -3.817004363985523 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -791.3317240101493, + 31.65025736439526, + -3.817004363985523 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -789.8317240101493, + 34.248333575748575, + -3.817004363985523 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -788.3317240101493, + 36.84640978710189, + -3.817004363985523 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -786.8317240101493, + 39.44448599845521, + -3.817004363985523 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -786.8317240101493, + 39.44448599845521, + -3.817004363985523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -784.233647798796, + 40.94448599845521, + -3.817004363985523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -781.6355715874427, + 42.44448599845521, + -3.817004363985523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -779.0374953760893, + 43.94448599845521, + -3.817004363985523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -776.4394191647359, + 45.44448599845521, + -3.817004363985523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -773.8413429533825, + 46.94448599845521, + -3.817004363985523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -771.2432667420292, + 48.44448599845521, + -3.817004363985523 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -768.8232287597656, + 49.617736358642574, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-33-4_14933990/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-33-4_14933990/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2a06f15c3cc9d29f046f57694cf046519b8ec442 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-33-4_14933990/pose.jsonl @@ -0,0 +1,443 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -834.5449496170475, + -16.935275658518208, + 2.911707666020547 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -833.0449496170475, + -14.337199447164892, + 2.911707666020547 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -831.5449496170475, + -11.739123235811576, + 2.911707666020547 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -830.0449496170475, + -9.14104702445826, + 2.911707666020547 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -828.5449496170475, + -6.542970813104944, + 2.911707666020547 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -827.0449496170475, + -3.9448946017516278, + 2.911707666020547 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -825.5449496170475, + -1.3468183903983117, + 2.911707666020547 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -824.0449496170475, + 1.2512578209550043, + 2.911707666020547 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -822.5449496170475, + 3.8493340323083203, + 2.911707666020547 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -821.0449496170475, + 6.447410243661636, + 2.911707666020547 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -819.5449496170475, + 9.045486455014952, + 2.911707666020547 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -818.0449496170475, + 11.643562666368268, + 2.911707666020547 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -816.5449496170475, + 14.241638877721584, + 2.911707666020547 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -815.0449496170475, + 16.8397150890749, + 2.911707666020547 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -813.5449496170475, + 19.437791300428216, + 2.911707666020547 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -812.0449496170475, + 22.035867511781532, + 2.911707666020547 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -810.5449496170475, + 24.63394372313485, + 2.911707666020547 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -810.5449496170475, + 24.63394372313485, + 2.911707666020547 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -807.9468734056941, + 26.13394372313485, + 2.911707666020547 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -805.3487971943407, + 27.63394372313485, + 2.911707666020547 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -802.7507209829873, + 29.13394372313485, + 2.911707666020547 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -800.152644771634, + 30.63394372313485, + 2.911707666020547 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -797.5545685602806, + 32.13394372313485, + 2.911707666020547 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -794.9564923489272, + 33.63394372313485, + 2.911707666020547 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -792.3584161375738, + 35.13394372313485, + 2.911707666020547 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -789.7603399262205, + 36.63394372313485, + 2.911707666020547 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -787.1622637148671, + 38.13394372313485, + 2.911707666020547 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -784.5641875035137, + 39.63394372313485, + 2.911707666020547 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -781.9661112921603, + 41.13394372313485, + 2.911707666020547 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -779.368035080807, + 42.63394372313485, + 2.911707666020547 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -776.7699588694536, + 44.13394372313485, + 2.911707666020547 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -774.1718826581002, + 45.63394372313485, + 2.911707666020547 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -771.5738064467469, + 47.13394372313485, + 2.911707666020547 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -768.8232287597656, + 49.617736358642574, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-36-59_1779451238/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-36-59_1779451238/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3573b40403096102d44bb712a5bf69b568cc3d15 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-36-59_1779451238/pose.jsonl @@ -0,0 +1,430 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -698.0239850002534, + 61.187549615605235, + -1.4825360204348925 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -701.0239850002534, + 61.187549615605235, + -1.4825360204348925 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -704.0239850002534, + 61.187549615605235, + -1.4825360204348925 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -707.0239850002534, + 61.187549615605235, + -1.4825360204348925 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -710.0239850002534, + 61.187549615605235, + -1.4825360204348925 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -713.0239850002534, + 61.187549615605235, + -1.4825360204348925 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -716.0239850002534, + 61.187549615605235, + -1.4825360204348925 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -719.0239850002534, + 61.187549615605235, + -1.4825360204348925 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -722.0239850002534, + 61.187549615605235, + -1.4825360204348925 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -725.0239850002534, + 61.187549615605235, + -1.4825360204348925 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -728.0239850002534, + 61.187549615605235, + -1.4825360204348925 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -731.0239850002534, + 61.187549615605235, + -1.4825360204348925 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -734.0239850002534, + 61.187549615605235, + -1.4825360204348925 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -737.0239850002534, + 61.187549615605235, + -1.4825360204348925 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -740.0239850002534, + 61.187549615605235, + -1.4825360204348925 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -743.0239850002534, + 61.187549615605235, + -1.4825360204348925 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -746.0239850002534, + 61.187549615605235, + -1.4825360204348925 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -749.0239850002534, + 61.187549615605235, + -1.4825360204348925 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -749.0239850002534, + 61.187549615605235, + -1.4825360204348925 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -751.6220612116067, + 62.687549615605235, + -1.4825360204348925 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -754.2201374229601, + 64.18754961560523, + -1.4825360204348925 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -756.8182136343135, + 65.68754961560523, + -1.4825360204348925 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -759.4162898456668, + 67.18754961560523, + -1.4825360204348925 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -762.0143660570202, + 68.68754961560523, + -1.4825360204348925 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -764.6124422683736, + 70.18754961560523, + -1.4825360204348925 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -767.2105184797269, + 71.68754961560523, + -1.4825360204348925 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -769.8085946910803, + 73.18754961560523, + -1.4825360204348925 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -772.4066709024337, + 74.68754961560523, + -1.4825360204348925 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -775.0047471137871, + 76.18754961560523, + -1.4825360204348925 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -777.6028233251404, + 77.68754961560523, + -1.4825360204348925 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -780.2008995364938, + 79.18754961560523, + -1.4825360204348925 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -782.7989757478472, + 80.68754961560523, + -1.4825360204348925 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -785.9369680786133, + 81.05284317016601, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-43-7_1490549207/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-43-7_1490549207/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ef05797bdb3ba90a5ce15e98a8b23e6a39f0e451 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-43-7_1490549207/pose.jsonl @@ -0,0 +1,534 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -869.4894502215543, + 266.22239213962445, + -3.3844906868905333 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -872.4894502215543, + 266.22239213962445, + -3.3844906868905333 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -875.4894502215543, + 266.22239213962445, + -3.3844906868905333 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -878.4894502215543, + 266.22239213962445, + -3.3844906868905333 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -881.4894502215543, + 266.22239213962445, + -3.3844906868905333 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -884.4894502215543, + 266.22239213962445, + -3.3844906868905333 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -887.4894502215543, + 266.22239213962445, + -3.3844906868905333 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -890.4894502215543, + 266.22239213962445, + -3.3844906868905333 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -893.4894502215543, + 266.22239213962445, + -3.3844906868905333 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -896.4894502215543, + 266.22239213962445, + -3.3844906868905333 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -899.4894502215543, + 266.22239213962445, + -3.3844906868905333 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -902.4894502215543, + 266.22239213962445, + -3.3844906868905333 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -905.4894502215543, + 266.22239213962445, + -3.3844906868905333 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -908.4894502215543, + 266.22239213962445, + -3.3844906868905333 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -911.4894502215543, + 266.22239213962445, + -3.3844906868905333 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -914.4894502215543, + 266.22239213962445, + -3.3844906868905333 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -917.4894502215543, + 266.22239213962445, + -3.3844906868905333 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -920.4894502215543, + 266.22239213962445, + -3.3844906868905333 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -923.4894502215543, + 266.22239213962445, + -3.3844906868905333 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -926.4894502215543, + 266.22239213962445, + -3.3844906868905333 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -926.4894502215543, + 266.22239213962445, + -3.3844906868905333 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -929.0875264329077, + 264.72239213962445, + -3.3844906868905333 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -931.685602644261, + 263.22239213962445, + -3.3844906868905333 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -934.2836788556144, + 261.72239213962445, + -3.3844906868905333 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -936.8817550669678, + 260.22239213962445, + -3.3844906868905333 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -939.4798312783212, + 258.72239213962445, + -3.3844906868905333 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -942.0779074896745, + 257.22239213962445, + -3.3844906868905333 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -944.6759837010279, + 255.72239213962445, + -3.3844906868905333 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -947.2740599123813, + 254.22239213962445, + -3.3844906868905333 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -949.8721361237347, + 252.72239213962445, + -3.3844906868905333 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -952.470212335088, + 251.22239213962445, + -3.3844906868905333 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -955.0682885464414, + 249.72239213962445, + -3.3844906868905333 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -957.6663647577948, + 248.22239213962445, + -3.3844906868905333 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -960.2644409691482, + 246.72239213962445, + -3.3844906868905333 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -962.8625171805015, + 245.22239213962445, + -3.3844906868905333 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -965.4605933918549, + 243.72239213962445, + -3.3844906868905333 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -968.0586696032083, + 242.22239213962445, + -3.3844906868905333 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -970.6567458145616, + 240.72239213962445, + -3.3844906868905333 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -973.254822025915, + 239.22239213962445, + -3.3844906868905333 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -975.8528982372684, + 237.72239213962445, + -3.3844906868905333 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -978.6087219238281, + 239.76509559631347, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-44-28_1116945487/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-44-28_1116945487/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e5c0301dcd9f011ee26e03ae5855a8619c6c026a --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-44-28_1116945487/pose.jsonl @@ -0,0 +1,547 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -378.42417139332264, + -173.19289197547545, + 0.8544796624548878 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -378.42417139332264, + -176.19289197547545, + 0.8544796624548878 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -378.42417139332264, + -179.19289197547545, + 0.8544796624548878 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -378.42417139332264, + -182.19289197547545, + 0.8544796624548878 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -378.42417139332264, + -185.19289197547545, + 0.8544796624548878 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -378.42417139332264, + -188.19289197547545, + 0.8544796624548878 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -378.42417139332264, + -191.19289197547545, + 0.8544796624548878 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -378.42417139332264, + -194.19289197547545, + 0.8544796624548878 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -378.42417139332264, + -197.19289197547545, + 0.8544796624548878 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -378.42417139332264, + -200.19289197547545, + 0.8544796624548878 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -378.42417139332264, + -203.19289197547545, + 0.8544796624548878 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -378.42417139332264, + -206.19289197547545, + 0.8544796624548878 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -378.42417139332264, + -209.19289197547545, + 0.8544796624548878 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -378.42417139332264, + -212.19289197547545, + 0.8544796624548878 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -378.42417139332264, + -215.19289197547545, + 0.8544796624548878 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -378.42417139332264, + -218.19289197547545, + 0.8544796624548878 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -378.42417139332264, + -221.19289197547545, + 0.8544796624548878 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -378.42417139332264, + -224.19289197547545, + 0.8544796624548878 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -378.42417139332264, + -227.19289197547545, + 0.8544796624548878 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -378.42417139332264, + -230.19289197547545, + 0.8544796624548878 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -378.42417139332264, + -233.19289197547545, + 0.8544796624548878 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -378.42417139332264, + -236.19289197547545, + 0.8544796624548878 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -378.42417139332264, + -239.19289197547545, + 0.8544796624548878 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -378.42417139332264, + -242.19289197547545, + 0.8544796624548878 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -378.42417139332264, + -245.19289197547545, + 0.8544796624548878 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -378.42417139332264, + -245.19289197547545, + 0.8544796624548878 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -376.92417139332264, + -247.79096818682876, + 0.8544796624548878 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -375.42417139332264, + -250.38904439818208, + 0.8544796624548878 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -373.92417139332264, + -252.9871206095354, + 0.8544796624548878 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -372.42417139332264, + -255.5851968208887, + 0.8544796624548878 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -370.92417139332264, + -258.183273032242, + 0.8544796624548878 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -369.42417139332264, + -260.78134924359534, + 0.8544796624548878 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -367.92417139332264, + -263.37942545494866, + 0.8544796624548878 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -366.42417139332264, + -265.977501666302, + 0.8544796624548878 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -364.92417139332264, + -268.5755778776553, + 0.8544796624548878 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -363.42417139332264, + -271.1736540890086, + 0.8544796624548878 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -361.92417139332264, + -273.7717303003619, + 0.8544796624548878 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -360.42417139332264, + -276.36980651171524, + 0.8544796624548878 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -358.92417139332264, + -278.96788272306856, + 0.8544796624548878 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -357.42417139332264, + -281.56595893442187, + 0.8544796624548878 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -355.92417139332264, + -284.1640351457752, + 0.8544796624548878 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -357.95375900268556, + -286.8376789855957, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-46-14_1692713933/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-46-14_1692713933/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e611bb561e22f8fe7fff3ec5f33e23dc4daacb5f --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-46-14_1692713933/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -219.32535814202305, + 47.80857607041406, + 1.798645997946239 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -220.82535814202305, + 45.21049985906075, + 1.798645997946239 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -222.32535814202305, + 42.61242364770743, + 1.798645997946239 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -223.82535814202305, + 40.014347436354115, + 1.798645997946239 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -225.32535814202305, + 37.4162712250008, + 1.798645997946239 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -226.82535814202305, + 34.81819501364748, + 1.798645997946239 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -228.32535814202305, + 32.22011880229417, + 1.798645997946239 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -229.82535814202305, + 29.62204259094085, + 1.798645997946239 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -231.32535814202305, + 27.023966379587534, + 1.798645997946239 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -232.82535814202305, + 24.42589016823422, + 1.798645997946239 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -234.32535814202305, + 21.827813956880902, + 1.798645997946239 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -235.82535814202305, + 19.229737745527586, + 1.798645997946239 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -237.32535814202305, + 16.63166153417427, + 1.798645997946239 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -238.82535814202305, + 14.033585322820954, + 1.798645997946239 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -240.32535814202305, + 11.435509111467638, + 1.798645997946239 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -240.32535814202305, + 11.435509111467638, + 1.798645997946239 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -240.32535814202305, + 8.435509111467638, + 1.798645997946239 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -240.32535814202305, + 5.435509111467638, + 1.798645997946239 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -240.32535814202305, + 2.4355091114676384, + 1.798645997946239 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -240.32535814202305, + -0.5644908885323616, + 1.798645997946239 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -240.32535814202305, + -3.5644908885323616, + 1.798645997946239 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -240.32535814202305, + -6.564490888532362, + 1.798645997946239 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -240.32535814202305, + -9.564490888532362, + 1.798645997946239 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -242.29689208984374, + -10.230338129997254, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-48-59_455843485/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-48-59_455843485/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..745a005ed0e083a6a75f88d9dd0d4d9e4bfaa951 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-48-59_455843485/pose.jsonl @@ -0,0 +1,469 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 303.0222139981995, + 755.8477583485558, + -0.4650459043493491 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 300.4241377868462, + 754.3477583485558, + -0.4650459043493491 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 297.8260615754929, + 752.8477583485558, + -0.4650459043493491 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 295.22798536413956, + 751.3477583485558, + -0.4650459043493491 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 292.62990915278624, + 749.8477583485558, + -0.4650459043493491 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 290.0318329414329, + 748.3477583485558, + -0.4650459043493491 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 287.4337567300796, + 746.8477583485558, + -0.4650459043493491 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 284.8356805187263, + 745.3477583485558, + -0.4650459043493491 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 282.237604307373, + 743.8477583485558, + -0.4650459043493491 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 279.63952809601966, + 742.3477583485558, + -0.4650459043493491 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 277.04145188466634, + 740.8477583485558, + -0.4650459043493491 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 274.443375673313, + 739.3477583485558, + -0.4650459043493491 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 271.8452994619597, + 737.8477583485558, + -0.4650459043493491 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 269.2472232506064, + 736.3477583485558, + -0.4650459043493491 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 266.6491470392531, + 734.8477583485558, + -0.4650459043493491 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 264.05107082789976, + 733.3477583485558, + -0.4650459043493491 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 261.45299461654645, + 731.8477583485558, + -0.4650459043493491 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 258.85491840519313, + 730.3477583485558, + -0.4650459043493491 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 256.2568421938398, + 728.8477583485558, + -0.4650459043493491 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 253.6587659824865, + 727.3477583485558, + -0.4650459043493491 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 251.06068977113318, + 725.8477583485558, + -0.4650459043493491 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 251.06068977113318, + 725.8477583485558, + -0.4650459043493491 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 249.56068977113318, + 723.2496821372024, + -0.4650459043493491 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 248.06068977113318, + 720.651605925849, + -0.4650459043493491 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 246.56068977113318, + 718.0535297144957, + -0.4650459043493491 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 245.06068977113318, + 715.4554535031423, + -0.4650459043493491 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 243.56068977113318, + 712.8573772917889, + -0.4650459043493491 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 242.06068977113318, + 710.2593010804355, + -0.4650459043493491 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 240.56068977113318, + 707.6612248690822, + -0.4650459043493491 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 239.06068977113318, + 705.0631486577288, + -0.4650459043493491 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 237.56068977113318, + 702.4650724463754, + -0.4650459043493491 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 236.06068977113318, + 699.866996235022, + -0.4650459043493491 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 234.56068977113318, + 697.2689200236687, + -0.4650459043493491 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 233.06068977113318, + 694.6708438123153, + -0.4650459043493491 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 231.56068977113318, + 692.0727676009619, + -0.4650459043493491 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 229.7172834777832, + 692.2608906555175, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-54-26_2021303708/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-54-26_2021303708/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..da76ca4fc61296f714d3053f76ecd184d6f80098 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-54-26_2021303708/pose.jsonl @@ -0,0 +1,378 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 10.980210014728224, + -326.4313001465712, + -3.637219948535578 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 10.980210014728224, + -323.4313001465712, + -3.637219948535578 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 10.980210014728224, + -320.4313001465712, + -3.637219948535578 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 10.980210014728224, + -317.4313001465712, + -3.637219948535578 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 10.980210014728224, + -314.4313001465712, + -3.637219948535578 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 10.980210014728224, + -311.4313001465712, + -3.637219948535578 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 10.980210014728224, + -308.4313001465712, + -3.637219948535578 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 10.980210014728224, + -305.4313001465712, + -3.637219948535578 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 10.980210014728224, + -302.4313001465712, + -3.637219948535578 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 10.980210014728224, + -299.4313001465712, + -3.637219948535578 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 10.980210014728224, + -296.4313001465712, + -3.637219948535578 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 10.980210014728224, + -293.4313001465712, + -3.637219948535578 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 10.980210014728224, + -290.4313001465712, + -3.637219948535578 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 10.980210014728224, + -290.4313001465712, + -3.637219948535578 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 9.480210014728224, + -287.83322393521786, + -3.637219948535578 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 7.9802100147282244, + -285.23514772386454, + -3.637219948535578 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 6.480210014728225, + -282.6370715125112, + -3.637219948535578 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 4.980210014728226, + -280.0389953011579, + -3.637219948535578 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 3.480210014728227, + -277.4409190898046, + -3.637219948535578 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1.9802100147282278, + -274.8428428784513, + -3.637219948535578 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 0.48021001472822844, + -272.24476666709796, + -3.637219948535578 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1.019789985271771, + -269.64669045574465, + -3.637219948535578 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2.5197899852717702, + -267.04861424439133, + -3.637219948535578 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -4.019789985271769, + -264.450538033038, + -3.637219948535578 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -5.5197899852717685, + -261.8524618216847, + -3.637219948535578 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -7.019789985271768, + -259.2543856103314, + -3.637219948535578 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -8.519789985271768, + -256.65630939897807, + -3.637219948535578 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -10.019789985271768, + -254.05823318762475, + -3.637219948535578 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -8.725501627922059, + -251.86730323791502, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-56-34_1259577690/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-56-34_1259577690/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a55417804635aab90f1ef322d69735f5c0340596 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-56-34_1259577690/pose.jsonl @@ -0,0 +1,534 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 331.5556770451174, + 705.6062477042259, + -4.987521095556621 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 328.5556770451174, + 705.6062477042259, + -4.987521095556621 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 325.5556770451174, + 705.6062477042259, + -4.987521095556621 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 322.5556770451174, + 705.6062477042259, + -4.987521095556621 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 319.5556770451174, + 705.6062477042259, + -4.987521095556621 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 316.5556770451174, + 705.6062477042259, + -4.987521095556621 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 313.5556770451174, + 705.6062477042259, + -4.987521095556621 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 310.5556770451174, + 705.6062477042259, + -4.987521095556621 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 307.5556770451174, + 705.6062477042259, + -4.987521095556621 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 304.5556770451174, + 705.6062477042259, + -4.987521095556621 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 301.5556770451174, + 705.6062477042259, + -4.987521095556621 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 298.5556770451174, + 705.6062477042259, + -4.987521095556621 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 295.5556770451174, + 705.6062477042259, + -4.987521095556621 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 292.5556770451174, + 705.6062477042259, + -4.987521095556621 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 289.5556770451174, + 705.6062477042259, + -4.987521095556621 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 286.5556770451174, + 705.6062477042259, + -4.987521095556621 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 283.5556770451174, + 705.6062477042259, + -4.987521095556621 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 280.5556770451174, + 705.6062477042259, + -4.987521095556621 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 277.5556770451174, + 705.6062477042259, + -4.987521095556621 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 274.5556770451174, + 705.6062477042259, + -4.987521095556621 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 271.5556770451174, + 705.6062477042259, + -4.987521095556621 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 268.5556770451174, + 705.6062477042259, + -4.987521095556621 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 265.5556770451174, + 705.6062477042259, + -4.987521095556621 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 262.5556770451174, + 705.6062477042259, + -4.987521095556621 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 259.5556770451174, + 705.6062477042259, + -4.987521095556621 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 256.5556770451174, + 705.6062477042259, + -4.987521095556621 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 256.5556770451174, + 705.6062477042259, + -4.987521095556621 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 253.9576008337641, + 704.1062477042259, + -4.987521095556621 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 251.3595246224108, + 702.6062477042259, + -4.987521095556621 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 248.76144841105747, + 701.1062477042259, + -4.987521095556621 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 246.16337219970416, + 699.6062477042259, + -4.987521095556621 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 243.56529598835084, + 698.1062477042259, + -4.987521095556621 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 240.96721977699752, + 696.6062477042259, + -4.987521095556621 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 238.3691435656442, + 695.1062477042259, + -4.987521095556621 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 235.7710673542909, + 693.6062477042259, + -4.987521095556621 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 233.17299114293758, + 692.1062477042259, + -4.987521095556621 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 230.57491493158426, + 690.6062477042259, + -4.987521095556621 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 230.57491493158426, + 690.6062477042259, + -4.987521095556621 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 227.57491493158426, + 690.6062477042259, + -4.987521095556621 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 224.57491493158426, + 690.6062477042259, + -4.987521095556621 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 222.9949237060547, + 690.6306562805175, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-56-53_1881049613/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-56-53_1881049613/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..466d5fea8f04a81d4accd2f48917afb83b8d2516 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-56-53_1881049613/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 165.76571318130246, + 719.73568181826, + -2.074013697031857 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 167.26571318130246, + 722.3337580296134, + -2.074013697031857 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 168.76571318130246, + 724.9318342409667, + -2.074013697031857 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 170.26571318130246, + 727.5299104523201, + -2.074013697031857 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 171.76571318130246, + 730.1279866636735, + -2.074013697031857 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 173.26571318130246, + 732.7260628750269, + -2.074013697031857 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 174.76571318130246, + 735.3241390863802, + -2.074013697031857 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 176.26571318130246, + 737.9222152977336, + -2.074013697031857 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 177.76571318130246, + 740.520291509087, + -2.074013697031857 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 179.26571318130246, + 743.1183677204403, + -2.074013697031857 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 180.76571318130246, + 745.7164439317937, + -2.074013697031857 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 182.26571318130246, + 748.3145201431471, + -2.074013697031857 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 183.76571318130246, + 750.9125963545005, + -2.074013697031857 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 185.26571318130246, + 753.5106725658538, + -2.074013697031857 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 186.76571318130246, + 756.1087487772072, + -2.074013697031857 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 188.26571318130246, + 758.7068249885606, + -2.074013697031857 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 189.76571318130246, + 761.304901199914, + -2.074013697031857 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 191.26571318130246, + 763.9029774112673, + -2.074013697031857 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 192.76571318130246, + 766.5010536226207, + -2.074013697031857 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 194.26571318130246, + 769.0991298339741, + -2.074013697031857 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 195.76571318130246, + 771.6972060453274, + -2.074013697031857 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 197.26571318130246, + 774.2952822566808, + -2.074013697031857 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 198.76571318130246, + 776.8933584680342, + -2.074013697031857 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 201.67972503662108, + 776.560556640625, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-58-8_2115227667/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-58-8_2115227667/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..eaa044fc2611058a1f4fc794a7d9b50f10eb7d37 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-58-8_2115227667/pose.jsonl @@ -0,0 +1,300 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -985.2896941581133, + 418.82635863260634, + 3.1315319187935167 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -985.2896941581133, + 415.82635863260634, + 3.1315319187935167 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -985.2896941581133, + 412.82635863260634, + 3.1315319187935167 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -985.2896941581133, + 409.82635863260634, + 3.1315319187935167 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -985.2896941581133, + 406.82635863260634, + 3.1315319187935167 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -985.2896941581133, + 403.82635863260634, + 3.1315319187935167 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -985.2896941581133, + 400.82635863260634, + 3.1315319187935167 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -985.2896941581133, + 397.82635863260634, + 3.1315319187935167 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -985.2896941581133, + 394.82635863260634, + 3.1315319187935167 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -985.2896941581133, + 391.82635863260634, + 3.1315319187935167 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -985.2896941581133, + 388.82635863260634, + 3.1315319187935167 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -985.2896941581133, + 385.82635863260634, + 3.1315319187935167 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -985.2896941581133, + 382.82635863260634, + 3.1315319187935167 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -985.2896941581133, + 382.82635863260634, + 3.1315319187935167 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -986.7896941581133, + 380.228282421253, + 3.1315319187935167 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -988.2896941581133, + 377.6302062098997, + 3.1315319187935167 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -989.7896941581133, + 375.0321299985464, + 3.1315319187935167 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -991.2896941581133, + 372.4340537871931, + 3.1315319187935167 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -992.7896941581133, + 369.83597757583976, + 3.1315319187935167 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -994.2896941581133, + 367.23790136448645, + 3.1315319187935167 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -995.7896941581133, + 364.63982515313313, + 3.1315319187935167 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -997.2896941581133, + 362.0417489417798, + 3.1315319187935167 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1001.9772616577148, + 339.91288177490236, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-6-23_953691761/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-6-23_953691761/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3f91cd5d2bfc07c8ea324628c3252ce255846f79 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-6-23_953691761/pose.jsonl @@ -0,0 +1,469 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 212.29571989613981, + 692.4515353880481, + -3.8785849051777945 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 215.29571989613981, + 692.4515353880481, + -3.8785849051777945 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 218.29571989613981, + 692.4515353880481, + -3.8785849051777945 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 221.29571989613981, + 692.4515353880481, + -3.8785849051777945 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 224.29571989613981, + 692.4515353880481, + -3.8785849051777945 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 227.29571989613981, + 692.4515353880481, + -3.8785849051777945 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 230.29571989613981, + 692.4515353880481, + -3.8785849051777945 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 233.29571989613981, + 692.4515353880481, + -3.8785849051777945 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 236.29571989613981, + 692.4515353880481, + -3.8785849051777945 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 239.29571989613981, + 692.4515353880481, + -3.8785849051777945 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 242.29571989613981, + 692.4515353880481, + -3.8785849051777945 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 245.29571989613981, + 692.4515353880481, + -3.8785849051777945 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 248.29571989613981, + 692.4515353880481, + -3.8785849051777945 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 251.29571989613981, + 692.4515353880481, + -3.8785849051777945 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 254.29571989613981, + 692.4515353880481, + -3.8785849051777945 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 257.2957198961398, + 692.4515353880481, + -3.8785849051777945 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 260.2957198961398, + 692.4515353880481, + -3.8785849051777945 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 260.2957198961398, + 692.4515353880481, + -3.8785849051777945 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 262.89379610749313, + 690.9515353880481, + -3.8785849051777945 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 265.49187231884645, + 689.4515353880481, + -3.8785849051777945 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 268.08994853019976, + 687.9515353880481, + -3.8785849051777945 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 270.6880247415531, + 686.4515353880481, + -3.8785849051777945 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 273.2861009529064, + 684.9515353880481, + -3.8785849051777945 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 275.8841771642597, + 683.4515353880481, + -3.8785849051777945 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 278.482253375613, + 681.9515353880481, + -3.8785849051777945 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 281.08032958696634, + 680.4515353880481, + -3.8785849051777945 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 283.67840579831966, + 678.9515353880481, + -3.8785849051777945 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 286.276482009673, + 677.4515353880481, + -3.8785849051777945 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 288.8745582210263, + 675.9515353880481, + -3.8785849051777945 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 291.4726344323796, + 674.4515353880481, + -3.8785849051777945 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 294.0707106437329, + 672.9515353880481, + -3.8785849051777945 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 296.66878685508624, + 671.4515353880481, + -3.8785849051777945 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 299.26686306643956, + 669.9515353880481, + -3.8785849051777945 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 301.86493927779287, + 668.4515353880481, + -3.8785849051777945 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 304.4630154891462, + 666.9515353880481, + -3.8785849051777945 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 307.503537902832, + 668.8986363220215, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-8-48_1738076217/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-8-48_1738076217/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5061583fabebb5daa04806559a96bf58cf96f1d4 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-8-48_1738076217/pose.jsonl @@ -0,0 +1,456 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -659.7991561971362, + 108.54781727300349, + 4.244458976146028 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -659.7991561971362, + 105.54781727300349, + 4.244458976146028 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -659.7991561971362, + 102.54781727300349, + 4.244458976146028 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -659.7991561971362, + 99.54781727300349, + 4.244458976146028 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -659.7991561971362, + 96.54781727300349, + 4.244458976146028 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -659.7991561971362, + 93.54781727300349, + 4.244458976146028 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -659.7991561971362, + 90.54781727300349, + 4.244458976146028 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -659.7991561971362, + 87.54781727300349, + 4.244458976146028 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -659.7991561971362, + 84.54781727300349, + 4.244458976146028 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -659.7991561971362, + 81.54781727300349, + 4.244458976146028 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -659.7991561971362, + 78.54781727300349, + 4.244458976146028 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -659.7991561971362, + 75.54781727300349, + 4.244458976146028 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -659.7991561971362, + 72.54781727300349, + 4.244458976146028 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -659.7991561971362, + 69.54781727300349, + 4.244458976146028 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -659.7991561971362, + 66.54781727300349, + 4.244458976146028 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -659.7991561971362, + 63.54781727300349, + 4.244458976146028 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -659.7991561971362, + 60.54781727300349, + 4.244458976146028 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -659.7991561971362, + 57.54781727300349, + 4.244458976146028 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -659.7991561971362, + 54.54781727300349, + 4.244458976146028 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -659.7991561971362, + 51.54781727300349, + 4.244458976146028 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -659.7991561971362, + 48.54781727300349, + 4.244458976146028 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -659.7991561971362, + 45.54781727300349, + 4.244458976146028 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -659.7991561971362, + 42.54781727300349, + 4.244458976146028 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -659.7991561971362, + 39.54781727300349, + 4.244458976146028 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -659.7991561971362, + 36.54781727300349, + 4.244458976146028 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -659.7991561971362, + 33.54781727300349, + 4.244458976146028 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -659.7991561971362, + 30.54781727300349, + 4.244458976146028 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -659.7991561971362, + 30.54781727300349, + 4.244458976146028 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -661.2991561971362, + 27.949741061650172, + 4.244458976146028 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -662.7991561971362, + 25.351664850296856, + 4.244458976146028 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -664.2991561971362, + 22.75358863894354, + 4.244458976146028 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -665.7991561971362, + 20.155512427590224, + 4.244458976146028 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -667.2991561971362, + 17.55743621623691, + 4.244458976146028 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -668.7991561971362, + 14.959360004883592, + 4.244458976146028 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -667.3111592102051, + 12.556017684936524, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-9-21_2118801173/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-9-21_2118801173/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8bbb0513be0b9131ffd69e0fb56babf1f810df34 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-9-21_2118801173/pose.jsonl @@ -0,0 +1,508 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -792.9825718004133, + 238.41204903047742, + 0.12477723277723651 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -789.9825718004133, + 238.41204903047742, + 0.12477723277723651 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -786.9825718004133, + 238.41204903047742, + 0.12477723277723651 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -783.9825718004133, + 238.41204903047742, + 0.12477723277723651 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -780.9825718004133, + 238.41204903047742, + 0.12477723277723651 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -777.9825718004133, + 238.41204903047742, + 0.12477723277723651 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -774.9825718004133, + 238.41204903047742, + 0.12477723277723651 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -771.9825718004133, + 238.41204903047742, + 0.12477723277723651 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -768.9825718004133, + 238.41204903047742, + 0.12477723277723651 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -765.9825718004133, + 238.41204903047742, + 0.12477723277723651 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -762.9825718004133, + 238.41204903047742, + 0.12477723277723651 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -759.9825718004133, + 238.41204903047742, + 0.12477723277723651 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -756.9825718004133, + 238.41204903047742, + 0.12477723277723651 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -753.9825718004133, + 238.41204903047742, + 0.12477723277723651 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -750.9825718004133, + 238.41204903047742, + 0.12477723277723651 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -747.9825718004133, + 238.41204903047742, + 0.12477723277723651 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -744.9825718004133, + 238.41204903047742, + 0.12477723277723651 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -741.9825718004133, + 238.41204903047742, + 0.12477723277723651 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -738.9825718004133, + 238.41204903047742, + 0.12477723277723651 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -735.9825718004133, + 238.41204903047742, + 0.12477723277723651 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -732.9825718004133, + 238.41204903047742, + 0.12477723277723651 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -729.9825718004133, + 238.41204903047742, + 0.12477723277723651 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -726.9825718004133, + 238.41204903047742, + 0.12477723277723651 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -723.9825718004133, + 238.41204903047742, + 0.12477723277723651 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -720.9825718004133, + 238.41204903047742, + 0.12477723277723651 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -720.9825718004133, + 238.41204903047742, + 0.12477723277723651 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -718.38449558906, + 239.91204903047742, + 0.12477723277723651 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -715.7864193777066, + 241.41204903047742, + 0.12477723277723651 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -713.1883431663532, + 242.91204903047742, + 0.12477723277723651 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -710.5902669549998, + 244.41204903047742, + 0.12477723277723651 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -707.9921907436465, + 245.91204903047742, + 0.12477723277723651 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -705.3941145322931, + 247.41204903047742, + 0.12477723277723651 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -702.7960383209397, + 248.91204903047742, + 0.12477723277723651 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -700.1979621095863, + 250.41204903047742, + 0.12477723277723651 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -697.599885898233, + 251.91204903047742, + 0.12477723277723651 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -695.0018096868796, + 253.41204903047742, + 0.12477723277723651 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -692.4037334755262, + 254.91204903047742, + 0.12477723277723651 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -689.8056572641729, + 256.4120490304774, + 0.12477723277723651 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -686.6680834960937, + 258.1570868682861, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_22-0-6_1146137088/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_22-0-6_1146137088/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5da9cf7e9dc11645438966c74571acdb91fd2837 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_22-0-6_1146137088/pose.jsonl @@ -0,0 +1,456 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -825.7004187257672, + 492.42383442866713, + -1.4410401300731897 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -827.2004187257672, + 489.8257582173138, + -1.4410401300731897 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -828.7004187257672, + 487.2276820059605, + -1.4410401300731897 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -830.2004187257672, + 484.6296057946072, + -1.4410401300731897 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -831.7004187257672, + 482.03152958325387, + -1.4410401300731897 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -833.2004187257672, + 479.43345337190055, + -1.4410401300731897 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -834.7004187257672, + 476.83537716054724, + -1.4410401300731897 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -836.2004187257672, + 474.2373009491939, + -1.4410401300731897 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -837.7004187257672, + 471.6392247378406, + -1.4410401300731897 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -839.2004187257672, + 469.0411485264873, + -1.4410401300731897 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -840.7004187257672, + 466.443072315134, + -1.4410401300731897 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -842.2004187257672, + 463.84499610378066, + -1.4410401300731897 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -843.7004187257672, + 461.24691989242734, + -1.4410401300731897 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -845.2004187257672, + 458.648843681074, + -1.4410401300731897 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -846.7004187257672, + 456.0507674697207, + -1.4410401300731897 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -848.2004187257672, + 453.4526912583674, + -1.4410401300731897 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -849.7004187257672, + 450.8546150470141, + -1.4410401300731897 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -851.2004187257672, + 448.25653883566076, + -1.4410401300731897 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -852.7004187257672, + 445.65846262430745, + -1.4410401300731897 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -854.2004187257672, + 443.06038641295413, + -1.4410401300731897 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -855.7004187257672, + 440.4623102016008, + -1.4410401300731897 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -857.2004187257672, + 437.8642339902475, + -1.4410401300731897 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -858.7004187257672, + 435.2661577788942, + -1.4410401300731897 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -860.2004187257672, + 432.66808156754087, + -1.4410401300731897 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -860.2004187257672, + 432.66808156754087, + -1.4410401300731897 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -862.7984949371205, + 431.16808156754087, + -1.4410401300731897 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -865.3965711484739, + 429.66808156754087, + -1.4410401300731897 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -867.9946473598272, + 428.16808156754087, + -1.4410401300731897 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -870.5927235711806, + 426.66808156754087, + -1.4410401300731897 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -873.190799782534, + 425.16808156754087, + -1.4410401300731897 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -875.7888759938874, + 423.66808156754087, + -1.4410401300731897 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -878.3869522052407, + 422.16808156754087, + -1.4410401300731897 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -880.9850284165941, + 420.66808156754087, + -1.4410401300731897 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -883.5831046279475, + 419.16808156754087, + -1.4410401300731897 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -884.2225183105469, + 417.81855880737305, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_22-12-16_1862558705/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_22-12-16_1862558705/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c21c17828b7271ad5878341598204247c0d8999d --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_22-12-16_1862558705/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -583.583086443914, + -220.529112213385, + 0.2572374278425542 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -580.583086443914, + -220.529112213385, + 0.2572374278425542 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -577.583086443914, + -220.529112213385, + 0.2572374278425542 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -574.583086443914, + -220.529112213385, + 0.2572374278425542 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -571.583086443914, + -220.529112213385, + 0.2572374278425542 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -568.583086443914, + -220.529112213385, + 0.2572374278425542 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -565.583086443914, + -220.529112213385, + 0.2572374278425542 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -562.583086443914, + -220.529112213385, + 0.2572374278425542 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -559.583086443914, + -220.529112213385, + 0.2572374278425542 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -556.583086443914, + -220.529112213385, + 0.2572374278425542 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -553.583086443914, + -220.529112213385, + 0.2572374278425542 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -550.583086443914, + -220.529112213385, + 0.2572374278425542 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -547.583086443914, + -220.529112213385, + 0.2572374278425542 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -544.583086443914, + -220.529112213385, + 0.2572374278425542 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -541.583086443914, + -220.529112213385, + 0.2572374278425542 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -538.583086443914, + -220.529112213385, + 0.2572374278425542 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -535.583086443914, + -220.529112213385, + 0.2572374278425542 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -532.583086443914, + -220.529112213385, + 0.2572374278425542 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -529.583086443914, + -220.529112213385, + 0.2572374278425542 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -526.583086443914, + -220.529112213385, + 0.2572374278425542 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -523.583086443914, + -220.529112213385, + 0.2572374278425542 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -520.583086443914, + -220.529112213385, + 0.2572374278425542 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -517.583086443914, + -220.529112213385, + 0.2572374278425542 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -514.583086443914, + -220.529112213385, + 0.2572374278425542 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -510.5901588439941, + -220.83477218627928, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_22-16-42_1028363610/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_22-16-42_1028363610/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cf6e64b4b146f2adc90faaeb8fb10f35e08b3e82 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_22-16-42_1028363610/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -753.6750748367634, + 237.22763559865743, + 4.3614734715585755 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -755.1750748367634, + 234.6295593873041, + 4.3614734715585755 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -756.6750748367634, + 232.0314831759508, + 4.3614734715585755 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -758.1750748367634, + 229.43340696459748, + 4.3614734715585755 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -759.6750748367634, + 226.83533075324416, + 4.3614734715585755 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -761.1750748367634, + 224.23725454189085, + 4.3614734715585755 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -762.6750748367634, + 221.63917833053753, + 4.3614734715585755 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -764.1750748367634, + 219.04110211918422, + 4.3614734715585755 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -765.6750748367634, + 216.4430259078309, + 4.3614734715585755 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -767.1750748367634, + 213.84494969647758, + 4.3614734715585755 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -768.6750748367634, + 211.24687348512427, + 4.3614734715585755 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -770.1750748367634, + 208.64879727377095, + 4.3614734715585755 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -771.6750748367634, + 206.05072106241764, + 4.3614734715585755 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -773.1750748367634, + 203.45264485106432, + 4.3614734715585755 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -774.6750748367634, + 200.854568639711, + 4.3614734715585755 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -776.1750748367634, + 198.2564924283577, + 4.3614734715585755 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -777.6750748367634, + 195.65841621700437, + 4.3614734715585755 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -779.1750748367634, + 193.06034000565106, + 4.3614734715585755 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -780.6750748367634, + 190.46226379429774, + 4.3614734715585755 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -780.6750748367634, + 190.46226379429774, + 4.3614734715585755 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -780.6750748367634, + 187.46226379429774, + 4.3614734715585755 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -780.6750748367634, + 184.46226379429774, + 4.3614734715585755 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -780.6750748367634, + 181.46226379429774, + 4.3614734715585755 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -779.8773458862305, + 179.3161050415039, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_22-22-30_2125023787/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_22-22-30_2125023787/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d91479c4d1bbc437d6c374aa1faccbf81bcf6b56 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_22-22-30_2125023787/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -935.0319844359962, + 272.0128406360437, + -0.6088778237880357 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -935.0319844359962, + 275.0128406360437, + -0.6088778237880357 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -935.0319844359962, + 278.0128406360437, + -0.6088778237880357 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -935.0319844359962, + 281.0128406360437, + -0.6088778237880357 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -935.0319844359962, + 284.0128406360437, + -0.6088778237880357 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -935.0319844359962, + 287.0128406360437, + -0.6088778237880357 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -935.0319844359962, + 290.0128406360437, + -0.6088778237880357 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -935.0319844359962, + 293.0128406360437, + -0.6088778237880357 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -935.0319844359962, + 296.0128406360437, + -0.6088778237880357 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -935.0319844359962, + 299.0128406360437, + -0.6088778237880357 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -935.0319844359962, + 302.0128406360437, + -0.6088778237880357 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -935.0319844359962, + 305.0128406360437, + -0.6088778237880357 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -935.0319844359962, + 308.0128406360437, + -0.6088778237880357 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -935.0319844359962, + 311.0128406360437, + -0.6088778237880357 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -935.0319844359962, + 314.0128406360437, + -0.6088778237880357 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -935.0319844359962, + 317.0128406360437, + -0.6088778237880357 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -935.0319844359962, + 317.0128406360437, + -0.6088778237880357 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -936.5319844359962, + 319.610916847397, + -0.6088778237880357 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -938.0319844359962, + 322.2089930587503, + -0.6088778237880357 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -939.5319844359962, + 324.8070692701036, + -0.6088778237880357 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -941.0319844359962, + 327.40514548145694, + -0.6088778237880357 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -942.5319844359962, + 330.00322169281026, + -0.6088778237880357 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -942.5319844359962, + 330.00322169281026, + -0.6088778237880357 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -942.5319844359962, + 333.00322169281026, + -0.6088778237880357 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -942.5730328369141, + 336.42247901916505, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_22-22-59_1651675551/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_22-22-59_1651675551/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b0eb49109fdd803ae522bc5f97322ac86381a8b7 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_22-22-59_1651675551/pose.jsonl @@ -0,0 +1,469 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -518.1956518560356, + -99.36823477322832, + -4.88805709121401 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -516.6956518560356, + -101.96631098458164, + -4.88805709121401 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -515.1956518560356, + -104.56438719593496, + -4.88805709121401 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -513.6956518560356, + -107.16246340728827, + -4.88805709121401 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -512.1956518560356, + -109.76053961864159, + -4.88805709121401 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -510.6956518560356, + -112.3586158299949, + -4.88805709121401 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -510.6956518560356, + -112.3586158299949, + -4.88805709121401 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -508.0975756446823, + -113.8586158299949, + -4.88805709121401 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -505.499499433329, + -115.3586158299949, + -4.88805709121401 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -502.9014232219757, + -116.8586158299949, + -4.88805709121401 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -500.30334701062236, + -118.3586158299949, + -4.88805709121401 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -497.70527079926904, + -119.8586158299949, + -4.88805709121401 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -495.1071945879157, + -121.3586158299949, + -4.88805709121401 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -492.5091183765624, + -122.8586158299949, + -4.88805709121401 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -489.9110421652091, + -124.3586158299949, + -4.88805709121401 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -487.3129659538558, + -125.8586158299949, + -4.88805709121401 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -484.71488974250246, + -127.3586158299949, + -4.88805709121401 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -482.11681353114915, + -128.8586158299949, + -4.88805709121401 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -479.51873731979583, + -130.3586158299949, + -4.88805709121401 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -476.9206611084425, + -131.8586158299949, + -4.88805709121401 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -474.3225848970892, + -133.3586158299949, + -4.88805709121401 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -471.7245086857359, + -134.8586158299949, + -4.88805709121401 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -469.12643247438257, + -136.3586158299949, + -4.88805709121401 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -466.52835626302925, + -137.8586158299949, + -4.88805709121401 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -463.93028005167594, + -139.3586158299949, + -4.88805709121401 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -461.3322038403226, + -140.8586158299949, + -4.88805709121401 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -458.7341276289693, + -142.3586158299949, + -4.88805709121401 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -456.136051417616, + -143.8586158299949, + -4.88805709121401 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -456.136051417616, + -143.8586158299949, + -4.88805709121401 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -454.636051417616, + -146.45669204134822, + -4.88805709121401 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -453.136051417616, + -149.05476825270154, + -4.88805709121401 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -451.636051417616, + -151.65284446405485, + -4.88805709121401 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -450.136051417616, + -154.25092067540817, + -4.88805709121401 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -448.636051417616, + -156.84899688676148, + -4.88805709121401 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -447.136051417616, + -159.4470730981148, + -4.88805709121401 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -445.52278427124025, + -160.4525846862793, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_22-24-22_1286966948/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_22-24-22_1286966948/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..01f9717b568996c9613eb43f1a266ff6917652c0 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_22-24-22_1286966948/pose.jsonl @@ -0,0 +1,508 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -450.7672999532329, + -412.4155656093873, + -2.284689048668558 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -447.7672999532329, + -412.4155656093873, + -2.284689048668558 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -444.7672999532329, + -412.4155656093873, + -2.284689048668558 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -441.7672999532329, + -412.4155656093873, + -2.284689048668558 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -438.7672999532329, + -412.4155656093873, + -2.284689048668558 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -435.7672999532329, + -412.4155656093873, + -2.284689048668558 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -432.7672999532329, + -412.4155656093873, + -2.284689048668558 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -429.7672999532329, + -412.4155656093873, + -2.284689048668558 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -426.7672999532329, + -412.4155656093873, + -2.284689048668558 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -423.7672999532329, + -412.4155656093873, + -2.284689048668558 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -420.7672999532329, + -412.4155656093873, + -2.284689048668558 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -417.7672999532329, + -412.4155656093873, + -2.284689048668558 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -414.7672999532329, + -412.4155656093873, + -2.284689048668558 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -414.7672999532329, + -412.4155656093873, + -2.284689048668558 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -412.1692237418796, + -410.9155656093873, + -2.284689048668558 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -409.5711475305263, + -409.4155656093873, + -2.284689048668558 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -406.97307131917296, + -407.9155656093873, + -2.284689048668558 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -404.37499510781964, + -406.4155656093873, + -2.284689048668558 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -401.7769188964663, + -404.9155656093873, + -2.284689048668558 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -399.178842685113, + -403.4155656093873, + -2.284689048668558 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -396.5807664737597, + -401.9155656093873, + -2.284689048668558 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -393.9826902624064, + -400.4155656093873, + -2.284689048668558 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -391.38461405105306, + -398.9155656093873, + -2.284689048668558 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -388.78653783969975, + -397.4155656093873, + -2.284689048668558 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -386.18846162834643, + -395.9155656093873, + -2.284689048668558 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -383.5903854169931, + -394.4155656093873, + -2.284689048668558 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -380.9923092056398, + -392.9155656093873, + -2.284689048668558 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -378.3942329942865, + -391.4155656093873, + -2.284689048668558 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -375.79615678293317, + -389.9155656093873, + -2.284689048668558 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -373.19808057157985, + -388.4155656093873, + -2.284689048668558 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -370.60000436022654, + -386.9155656093873, + -2.284689048668558 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -368.0019281488732, + -385.4155656093873, + -2.284689048668558 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -365.4038519375199, + -383.9155656093873, + -2.284689048668558 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -362.8057757261666, + -382.4155656093873, + -2.284689048668558 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -360.20769951481327, + -380.9155656093873, + -2.284689048668558 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -357.60962330345995, + -379.4155656093873, + -2.284689048668558 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -355.01154709210664, + -377.9155656093873, + -2.284689048668558 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -352.4134708807533, + -376.4155656093873, + -2.284689048668558 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -348.85303680419923, + -377.0924723815918, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_22-26-0_750679664/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_22-26-0_750679664/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0bbc9f6349096cf437d0d8fb5f49ddf9d63406a5 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_22-26-0_750679664/pose.jsonl @@ -0,0 +1,495 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -54.609179424445784, + -90.7251198737884, + 3.613443683656474 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -57.609179424445784, + -90.7251198737884, + 3.613443683656474 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -60.609179424445784, + -90.7251198737884, + 3.613443683656474 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -63.609179424445784, + -90.7251198737884, + 3.613443683656474 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -66.60917942444578, + -90.7251198737884, + 3.613443683656474 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -69.60917942444578, + -90.7251198737884, + 3.613443683656474 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -72.60917942444578, + -90.7251198737884, + 3.613443683656474 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -75.60917942444578, + -90.7251198737884, + 3.613443683656474 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -78.60917942444578, + -90.7251198737884, + 3.613443683656474 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -81.60917942444578, + -90.7251198737884, + 3.613443683656474 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -84.60917942444578, + -90.7251198737884, + 3.613443683656474 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -87.60917942444578, + -90.7251198737884, + 3.613443683656474 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -90.60917942444578, + -90.7251198737884, + 3.613443683656474 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -93.60917942444578, + -90.7251198737884, + 3.613443683656474 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -96.60917942444578, + -90.7251198737884, + 3.613443683656474 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -99.60917942444578, + -90.7251198737884, + 3.613443683656474 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -102.60917942444578, + -90.7251198737884, + 3.613443683656474 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -105.60917942444578, + -90.7251198737884, + 3.613443683656474 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -108.60917942444578, + -90.7251198737884, + 3.613443683656474 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -108.60917942444578, + -90.7251198737884, + 3.613443683656474 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -111.2072556357991, + -89.2251198737884, + 3.613443683656474 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -113.80533184715242, + -87.7251198737884, + 3.613443683656474 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -116.40340805850573, + -86.2251198737884, + 3.613443683656474 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -119.00148426985905, + -84.7251198737884, + 3.613443683656474 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -121.59956048121236, + -83.2251198737884, + 3.613443683656474 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -124.19763669256568, + -81.7251198737884, + 3.613443683656474 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -126.795712903919, + -80.2251198737884, + 3.613443683656474 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -129.3937891152723, + -78.7251198737884, + 3.613443683656474 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -131.99186532662563, + -77.2251198737884, + 3.613443683656474 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -134.58994153797894, + -75.7251198737884, + 3.613443683656474 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -137.18801774933226, + -74.2251198737884, + 3.613443683656474 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -139.78609396068558, + -72.7251198737884, + 3.613443683656474 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -142.3841701720389, + -71.2251198737884, + 3.613443683656474 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -144.9822463833922, + -69.7251198737884, + 3.613443683656474 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -147.58032259474552, + -68.2251198737884, + 3.613443683656474 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -150.17839880609884, + -66.7251198737884, + 3.613443683656474 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -152.77647501745216, + -65.2251198737884, + 3.613443683656474 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -156.47577671051025, + -64.65314291000367, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_22-26-35_1777288820/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_22-26-35_1777288820/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c95298de1221347eff26bb591a424f20c3759ecd --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_22-26-35_1777288820/pose.jsonl @@ -0,0 +1,482 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -457.40494101832337, + -138.0555396211095, + 1.7247474685217403 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -458.90494101832337, + -140.6536158324628, + 1.7247474685217403 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -460.40494101832337, + -143.25169204381612, + 1.7247474685217403 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -461.90494101832337, + -145.84976825516944, + 1.7247474685217403 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -463.40494101832337, + -148.44784446652275, + 1.7247474685217403 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -464.90494101832337, + -151.04592067787607, + 1.7247474685217403 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -466.40494101832337, + -153.64399688922938, + 1.7247474685217403 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -467.90494101832337, + -156.2420731005827, + 1.7247474685217403 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -469.40494101832337, + -158.84014931193602, + 1.7247474685217403 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -470.90494101832337, + -161.43822552328933, + 1.7247474685217403 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -472.40494101832337, + -164.03630173464265, + 1.7247474685217403 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -473.90494101832337, + -166.63437794599596, + 1.7247474685217403 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -475.40494101832337, + -169.23245415734928, + 1.7247474685217403 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -476.90494101832337, + -171.8305303687026, + 1.7247474685217403 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -478.40494101832337, + -174.4286065800559, + 1.7247474685217403 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -479.90494101832337, + -177.02668279140923, + 1.7247474685217403 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -481.40494101832337, + -179.62475900276254, + 1.7247474685217403 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -482.90494101832337, + -182.22283521411586, + 1.7247474685217403 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -484.40494101832337, + -184.82091142546918, + 1.7247474685217403 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -485.90494101832337, + -187.4189876368225, + 1.7247474685217403 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -487.40494101832337, + -190.0170638481758, + 1.7247474685217403 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -488.90494101832337, + -192.61514005952912, + 1.7247474685217403 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -490.40494101832337, + -195.21321627088244, + 1.7247474685217403 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -491.90494101832337, + -197.81129248223576, + 1.7247474685217403 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -493.40494101832337, + -200.40936869358907, + 1.7247474685217403 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -494.90494101832337, + -203.0074449049424, + 1.7247474685217403 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -496.40494101832337, + -205.6055211162957, + 1.7247474685217403 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -497.90494101832337, + -208.20359732764902, + 1.7247474685217403 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -499.40494101832337, + -210.80167353900234, + 1.7247474685217403 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -500.90494101832337, + -213.39974975035565, + 1.7247474685217403 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -502.40494101832337, + -215.99782596170897, + 1.7247474685217403 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -503.90494101832337, + -218.59590217306229, + 1.7247474685217403 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -503.90494101832337, + -218.59590217306229, + 1.7247474685217403 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -503.90494101832337, + -218.59590217306229, + 1.7247474685217403 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -506.90494101832337, + -218.59590217306229, + 1.7247474685217403 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -509.90494101832337, + -218.59590217306229, + 1.7247474685217403 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -510.5901588439941, + -220.83477218627928, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_22-3-41_499429649/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_22-3-41_499429649/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4943025767c4a913d5f26114aa10341807d2d3ed --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_22-3-41_499429649/pose.jsonl @@ -0,0 +1,404 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -364.0765236120056, + -178.10712011729416, + -0.6755603622753048 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -367.0765236120056, + -178.10712011729416, + -0.6755603622753048 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -370.0765236120056, + -178.10712011729416, + -0.6755603622753048 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -373.0765236120056, + -178.10712011729416, + -0.6755603622753048 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -376.0765236120056, + -178.10712011729416, + -0.6755603622753048 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -379.0765236120056, + -178.10712011729416, + -0.6755603622753048 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -382.0765236120056, + -178.10712011729416, + -0.6755603622753048 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -385.0765236120056, + -178.10712011729416, + -0.6755603622753048 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -388.0765236120056, + -178.10712011729416, + -0.6755603622753048 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -391.0765236120056, + -178.10712011729416, + -0.6755603622753048 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -394.0765236120056, + -178.10712011729416, + -0.6755603622753048 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -397.0765236120056, + -178.10712011729416, + -0.6755603622753048 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -400.0765236120056, + -178.10712011729416, + -0.6755603622753048 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -403.0765236120056, + -178.10712011729416, + -0.6755603622753048 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -406.0765236120056, + -178.10712011729416, + -0.6755603622753048 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -409.0765236120056, + -178.10712011729416, + -0.6755603622753048 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -412.0765236120056, + -178.10712011729416, + -0.6755603622753048 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -415.0765236120056, + -178.10712011729416, + -0.6755603622753048 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -415.0765236120056, + -178.10712011729416, + -0.6755603622753048 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -417.6745998233589, + -176.60712011729416, + -0.6755603622753048 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -420.2726760347122, + -175.10712011729416, + -0.6755603622753048 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -422.87075224606554, + -173.60712011729416, + -0.6755603622753048 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -425.46882845741885, + -172.10712011729416, + -0.6755603622753048 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -428.06690466877217, + -170.60712011729416, + -0.6755603622753048 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -430.6649808801255, + -169.10712011729416, + -0.6755603622753048 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -433.2630570914788, + -167.60712011729416, + -0.6755603622753048 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -435.8611333028321, + -166.10712011729416, + -0.6755603622753048 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -438.45920951418543, + -164.60712011729416, + -0.6755603622753048 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -441.05728572553875, + -163.10712011729416, + -0.6755603622753048 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -443.65536193689206, + -161.60712011729416, + -0.6755603622753048 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -445.52278427124025, + -160.4525846862793, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_22-31-42_551201745/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_22-31-42_551201745/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..beb7a6960db9d379c91eb374311e72097e1ad057 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_22-31-42_551201745/pose.jsonl @@ -0,0 +1,508 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 58.08152718547653, + -337.4058485499413, + 1.6694408452894507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 56.58152718547653, + -334.807772338588, + 1.6694408452894507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 55.08152718547653, + -332.2096961272347, + 1.6694408452894507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 53.58152718547653, + -329.61161991588136, + 1.6694408452894507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 52.08152718547653, + -327.01354370452805, + 1.6694408452894507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 50.58152718547653, + -324.41546749317473, + 1.6694408452894507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 49.08152718547653, + -321.8173912818214, + 1.6694408452894507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 47.58152718547653, + -319.2193150704681, + 1.6694408452894507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 46.08152718547653, + -316.6212388591148, + 1.6694408452894507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 44.58152718547653, + -314.02316264776147, + 1.6694408452894507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 43.08152718547653, + -311.42508643640815, + 1.6694408452894507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 41.58152718547653, + -308.82701022505483, + 1.6694408452894507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 40.08152718547653, + -306.2289340137015, + 1.6694408452894507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 38.58152718547653, + -303.6308578023482, + 1.6694408452894507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 37.08152718547653, + -301.0327815909949, + 1.6694408452894507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 35.58152718547653, + -298.43470537964157, + 1.6694408452894507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 34.08152718547653, + -295.83662916828825, + 1.6694408452894507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 32.58152718547653, + -293.23855295693494, + 1.6694408452894507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 31.08152718547653, + -290.6404767455816, + 1.6694408452894507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 29.58152718547653, + -288.0424005342283, + 1.6694408452894507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 28.08152718547653, + -285.444324322875, + 1.6694408452894507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 26.58152718547653, + -282.8462481115217, + 1.6694408452894507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 25.08152718547653, + -280.24817190016836, + 1.6694408452894507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 23.58152718547653, + -277.65009568881504, + 1.6694408452894507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 22.08152718547653, + -275.0520194774617, + 1.6694408452894507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 20.58152718547653, + -272.4539432661084, + 1.6694408452894507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 19.08152718547653, + -269.8558670547551, + 1.6694408452894507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 17.58152718547653, + -267.2577908434018, + 1.6694408452894507 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 17.58152718547653, + -267.2577908434018, + 1.6694408452894507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 14.983450974123215, + -265.7577908434018, + 1.6694408452894507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 12.3853747627699, + -264.2577908434018, + 1.6694408452894507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 9.787298551416583, + -262.7577908434018, + 1.6694408452894507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 7.189222340063267, + -261.2577908434018, + 1.6694408452894507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 4.591146128709951, + -259.7577908434018, + 1.6694408452894507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1.9930699173566353, + -258.2577908434018, + 1.6694408452894507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -0.6050062939966807, + -256.7577908434018, + 1.6694408452894507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -3.2030825053499967, + -255.25779084340178, + 1.6694408452894507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -5.801158716703313, + -253.75779084340178, + 1.6694408452894507 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -8.725501627922059, + -251.86730323791502, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_22-36-38_13798878/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_22-36-38_13798878/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1bc09b835aada4637d00bcaa047bdb9039db28c1 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_22-36-38_13798878/pose.jsonl @@ -0,0 +1,430 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -873.5211949987647, + 348.8253355280902, + -4.564392590769145 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -876.5211949987647, + 348.8253355280902, + -4.564392590769145 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -879.5211949987647, + 348.8253355280902, + -4.564392590769145 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -882.5211949987647, + 348.8253355280902, + -4.564392590769145 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -885.5211949987647, + 348.8253355280902, + -4.564392590769145 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -888.5211949987647, + 348.8253355280902, + -4.564392590769145 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -891.5211949987647, + 348.8253355280902, + -4.564392590769145 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -894.5211949987647, + 348.8253355280902, + -4.564392590769145 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -897.5211949987647, + 348.8253355280902, + -4.564392590769145 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -900.5211949987647, + 348.8253355280902, + -4.564392590769145 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -903.5211949987647, + 348.8253355280902, + -4.564392590769145 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -906.5211949987647, + 348.8253355280902, + -4.564392590769145 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -909.5211949987647, + 348.8253355280902, + -4.564392590769145 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -912.5211949987647, + 348.8253355280902, + -4.564392590769145 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -915.5211949987647, + 348.8253355280902, + -4.564392590769145 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -918.5211949987647, + 348.8253355280902, + -4.564392590769145 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -921.5211949987647, + 348.8253355280902, + -4.564392590769145 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -924.5211949987647, + 348.8253355280902, + -4.564392590769145 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -927.5211949987647, + 348.8253355280902, + -4.564392590769145 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -930.5211949987647, + 348.8253355280902, + -4.564392590769145 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -933.5211949987647, + 348.8253355280902, + -4.564392590769145 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -936.5211949987647, + 348.8253355280902, + -4.564392590769145 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -939.5211949987647, + 348.8253355280902, + -4.564392590769145 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -942.5211949987647, + 348.8253355280902, + -4.564392590769145 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -945.5211949987647, + 348.8253355280902, + -4.564392590769145 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -948.5211949987647, + 348.8253355280902, + -4.564392590769145 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -951.5211949987647, + 348.8253355280902, + -4.564392590769145 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -954.5211949987647, + 348.8253355280902, + -4.564392590769145 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -954.5211949987647, + 348.8253355280902, + -4.564392590769145 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -954.5211949987647, + 348.8253355280902, + -4.564392590769145 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -956.0211949987647, + 351.4234117394435, + -4.564392590769145 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -957.5211949987647, + 354.0214879507968, + -4.564392590769145 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -979.8297436523437, + 358.6925830078125, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_22-37-56_636453333/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_22-37-56_636453333/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7194c7ef2b321ddd648e1a672fe5cadf58b73005 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_22-37-56_636453333/pose.jsonl @@ -0,0 +1,443 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -190.70661219426904, + -413.06969291456255, + -1.7891465820268193 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -193.30468840562236, + -414.56969291456255, + -1.7891465820268193 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -195.90276461697567, + -416.06969291456255, + -1.7891465820268193 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -198.500840828329, + -417.56969291456255, + -1.7891465820268193 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -201.0989170396823, + -419.06969291456255, + -1.7891465820268193 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -203.69699325103562, + -420.56969291456255, + -1.7891465820268193 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -206.29506946238894, + -422.06969291456255, + -1.7891465820268193 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -208.89314567374225, + -423.56969291456255, + -1.7891465820268193 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -211.49122188509557, + -425.06969291456255, + -1.7891465820268193 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -214.08929809644889, + -426.56969291456255, + -1.7891465820268193 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -216.6873743078022, + -428.06969291456255, + -1.7891465820268193 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -219.28545051915552, + -429.56969291456255, + -1.7891465820268193 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -221.88352673050883, + -431.06969291456255, + -1.7891465820268193 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -224.48160294186215, + -432.56969291456255, + -1.7891465820268193 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -227.07967915321547, + -434.06969291456255, + -1.7891465820268193 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -229.67775536456878, + -435.56969291456255, + -1.7891465820268193 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -232.2758315759221, + -437.06969291456255, + -1.7891465820268193 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -234.8739077872754, + -438.56969291456255, + -1.7891465820268193 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -237.47198399862873, + -440.06969291456255, + -1.7891465820268193 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -240.07006020998205, + -441.56969291456255, + -1.7891465820268193 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -242.66813642133536, + -443.06969291456255, + -1.7891465820268193 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -245.26621263268868, + -444.56969291456255, + -1.7891465820268193 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -247.864288844042, + -446.06969291456255, + -1.7891465820268193 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -250.4623650553953, + -447.56969291456255, + -1.7891465820268193 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -253.06044126674863, + -449.06969291456255, + -1.7891465820268193 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -255.65851747810194, + -450.56969291456255, + -1.7891465820268193 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -258.25659368945526, + -452.06969291456255, + -1.7891465820268193 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -260.8546699008086, + -453.56969291456255, + -1.7891465820268193 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -263.4527461121619, + -455.06969291456255, + -1.7891465820268193 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -263.4527461121619, + -455.06969291456255, + -1.7891465820268193 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -264.9527461121619, + -457.66776912591587, + -1.7891465820268193 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -266.4527461121619, + -460.2658453372692, + -1.7891465820268193 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -267.9527461121619, + -462.8639215486225, + -1.7891465820268193 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -270.6246540832519, + -464.87673126220704, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_22-4-49_1015857464/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_22-4-49_1015857464/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3c139400b8f340ed2079c0d3513c6899a80d1fde --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_22-4-49_1015857464/pose.jsonl @@ -0,0 +1,430 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -583.7005034477115, + -273.09494892523315, + -0.11767248943754982 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -581.1024272363582, + -271.59494892523315, + -0.11767248943754982 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -578.5043510250048, + -270.09494892523315, + -0.11767248943754982 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -575.9062748136514, + -268.59494892523315, + -0.11767248943754982 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -573.308198602298, + -267.09494892523315, + -0.11767248943754982 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -570.7101223909447, + -265.59494892523315, + -0.11767248943754982 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -568.1120461795913, + -264.09494892523315, + -0.11767248943754982 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -565.5139699682379, + -262.59494892523315, + -0.11767248943754982 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -562.9158937568845, + -261.09494892523315, + -0.11767248943754982 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -560.3178175455312, + -259.59494892523315, + -0.11767248943754982 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -557.7197413341778, + -258.09494892523315, + -0.11767248943754982 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -555.1216651228244, + -256.59494892523315, + -0.11767248943754982 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -552.523588911471, + -255.09494892523315, + -0.11767248943754982 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -549.9255127001177, + -253.59494892523315, + -0.11767248943754982 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -547.3274364887643, + -252.09494892523315, + -0.11767248943754982 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -544.7293602774109, + -250.59494892523315, + -0.11767248943754982 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -542.1312840660576, + -249.09494892523315, + -0.11767248943754982 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -539.5332078547042, + -247.59494892523315, + -0.11767248943754982 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -536.9351316433508, + -246.09494892523315, + -0.11767248943754982 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -534.3370554319974, + -244.59494892523315, + -0.11767248943754982 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -531.7389792206441, + -243.09494892523315, + -0.11767248943754982 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -529.1409030092907, + -241.59494892523315, + -0.11767248943754982 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -526.5428267979373, + -240.09494892523315, + -0.11767248943754982 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -523.944750586584, + -238.59494892523315, + -0.11767248943754982 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -521.3466743752306, + -237.09494892523315, + -0.11767248943754982 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -518.7485981638772, + -235.59494892523315, + -0.11767248943754982 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -518.7485981638772, + -235.59494892523315, + -0.11767248943754982 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -517.2485981638772, + -232.99687271387984, + -0.11767248943754982 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -515.7485981638772, + -230.39879650252652, + -0.11767248943754982 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -514.2485981638772, + -227.8007202911732, + -0.11767248943754982 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -512.7485981638772, + -225.2026440798199, + -0.11767248943754982 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -511.2485981638772, + -222.60456786846657, + -0.11767248943754982 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -510.5901588439941, + -220.83477218627928, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_22-41-46_1153263590/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_22-41-46_1153263590/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ef2def9bc1174240d8eab4bb4698567f50b8cd14 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_22-41-46_1153263590/pose.jsonl @@ -0,0 +1,443 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -216.96935303917346, + 755.8303083967286, + 1.2553815056756346 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -216.96935303917346, + 752.8303083967286, + 1.2553815056756346 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -216.96935303917346, + 749.8303083967286, + 1.2553815056756346 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -216.96935303917346, + 746.8303083967286, + 1.2553815056756346 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -216.96935303917346, + 743.8303083967286, + 1.2553815056756346 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -216.96935303917346, + 740.8303083967286, + 1.2553815056756346 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -216.96935303917346, + 737.8303083967286, + 1.2553815056756346 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -216.96935303917346, + 734.8303083967286, + 1.2553815056756346 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -216.96935303917346, + 731.8303083967286, + 1.2553815056756346 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -216.96935303917346, + 728.8303083967286, + 1.2553815056756346 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -216.96935303917346, + 725.8303083967286, + 1.2553815056756346 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -216.96935303917346, + 722.8303083967286, + 1.2553815056756346 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -216.96935303917346, + 719.8303083967286, + 1.2553815056756346 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -216.96935303917346, + 716.8303083967286, + 1.2553815056756346 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -216.96935303917346, + 713.8303083967286, + 1.2553815056756346 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -216.96935303917346, + 710.8303083967286, + 1.2553815056756346 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -216.96935303917346, + 707.8303083967286, + 1.2553815056756346 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -216.96935303917346, + 704.8303083967286, + 1.2553815056756346 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -216.96935303917346, + 701.8303083967286, + 1.2553815056756346 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -216.96935303917346, + 698.8303083967286, + 1.2553815056756346 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -216.96935303917346, + 695.8303083967286, + 1.2553815056756346 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -216.96935303917346, + 692.8303083967286, + 1.2553815056756346 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -216.96935303917346, + 689.8303083967286, + 1.2553815056756346 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -216.96935303917346, + 686.8303083967286, + 1.2553815056756346 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -216.96935303917346, + 683.8303083967286, + 1.2553815056756346 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -216.96935303917346, + 680.8303083967286, + 1.2553815056756346 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -216.96935303917346, + 680.8303083967286, + 1.2553815056756346 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -218.46935303917346, + 678.2322321853753, + 1.2553815056756346 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -219.96935303917346, + 675.634155974022, + 1.2553815056756346 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -221.46935303917346, + 673.0360797626686, + 1.2553815056756346 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -222.96935303917346, + 670.4380035513152, + 1.2553815056756346 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -224.46935303917346, + 667.8399273399618, + 1.2553815056756346 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -225.96935303917346, + 665.2418511286085, + 1.2553815056756346 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -227.7933927154541, + 663.3823291015625, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_22-43-51_1485511804/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_22-43-51_1485511804/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ad63b1974f643a4b4616f4f45e553e828e4a4975 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_22-43-51_1485511804/pose.jsonl @@ -0,0 +1,417 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -565.1232153301025, + 281.36002098829795, + -1.6772903084867261 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -562.5251391187492, + 279.86002098829795, + -1.6772903084867261 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -559.9270629073958, + 278.36002098829795, + -1.6772903084867261 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -559.9270629073958, + 278.36002098829795, + -1.6772903084867261 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -558.4270629073958, + 275.76194477694463, + -1.6772903084867261 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -556.9270629073958, + 273.1638685655913, + -1.6772903084867261 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -555.4270629073958, + 270.565792354238, + -1.6772903084867261 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -553.9270629073958, + 267.9677161428847, + -1.6772903084867261 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -552.4270629073958, + 265.36963993153137, + -1.6772903084867261 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -550.9270629073958, + 262.77156372017805, + -1.6772903084867261 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -549.4270629073958, + 260.17348750882473, + -1.6772903084867261 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -547.9270629073958, + 257.5754112974714, + -1.6772903084867261 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -547.9270629073958, + 257.5754112974714, + -1.6772903084867261 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -547.9270629073958, + 254.57541129747142, + -1.6772903084867261 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -547.9270629073958, + 251.57541129747142, + -1.6772903084867261 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -547.9270629073958, + 248.57541129747142, + -1.6772903084867261 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -547.9270629073958, + 245.57541129747142, + -1.6772903084867261 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -547.9270629073958, + 242.57541129747142, + -1.6772903084867261 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -547.9270629073958, + 239.57541129747142, + -1.6772903084867261 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -547.9270629073958, + 236.57541129747142, + -1.6772903084867261 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -547.9270629073958, + 233.57541129747142, + -1.6772903084867261 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -547.9270629073958, + 230.57541129747142, + -1.6772903084867261 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -547.9270629073958, + 227.57541129747142, + -1.6772903084867261 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -547.9270629073958, + 224.57541129747142, + -1.6772903084867261 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -547.9270629073958, + 221.57541129747142, + -1.6772903084867261 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -547.9270629073958, + 218.57541129747142, + -1.6772903084867261 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -547.9270629073958, + 215.57541129747142, + -1.6772903084867261 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -547.9270629073958, + 212.57541129747142, + -1.6772903084867261 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -547.9270629073958, + 209.57541129747142, + -1.6772903084867261 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -547.9270629073958, + 206.57541129747142, + -1.6772903084867261 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -547.9270629073958, + 203.57541129747142, + -1.6772903084867261 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -547.9009985351562, + 200.65022193908692, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_22-45-13_1145151225/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_22-45-13_1145151225/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bb0cc66c709c5361455840378eae00a25ba97035 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_22-45-13_1145151225/pose.jsonl @@ -0,0 +1,404 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -576.083718304686, + 109.15775985788036, + 1.2522106248776952 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -578.6817945160394, + 107.65775985788036, + 1.2522106248776952 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -581.2798707273928, + 106.15775985788036, + 1.2522106248776952 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -583.8779469387462, + 104.65775985788036, + 1.2522106248776952 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -586.4760231500995, + 103.15775985788036, + 1.2522106248776952 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -589.0740993614529, + 101.65775985788036, + 1.2522106248776952 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -591.6721755728063, + 100.15775985788036, + 1.2522106248776952 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -594.2702517841597, + 98.65775985788036, + 1.2522106248776952 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -596.868327995513, + 97.15775985788036, + 1.2522106248776952 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -599.4664042068664, + 95.65775985788036, + 1.2522106248776952 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -602.0644804182198, + 94.15775985788036, + 1.2522106248776952 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -604.6625566295731, + 92.65775985788036, + 1.2522106248776952 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -607.2606328409265, + 91.15775985788036, + 1.2522106248776952 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -609.8587090522799, + 89.65775985788036, + 1.2522106248776952 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -612.4567852636333, + 88.15775985788036, + 1.2522106248776952 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -615.0548614749866, + 86.65775985788036, + 1.2522106248776952 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -617.65293768634, + 85.15775985788036, + 1.2522106248776952 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -620.2510138976934, + 83.65775985788036, + 1.2522106248776952 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -622.8490901090468, + 82.15775985788036, + 1.2522106248776952 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -625.4471663204001, + 80.65775985788036, + 1.2522106248776952 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -625.4471663204001, + 80.65775985788036, + 1.2522106248776952 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -628.4471663204001, + 80.65775985788036, + 1.2522106248776952 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -631.4471663204001, + 80.65775985788036, + 1.2522106248776952 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -634.4471663204001, + 80.65775985788036, + 1.2522106248776952 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -637.4471663204001, + 80.65775985788036, + 1.2522106248776952 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -640.4471663204001, + 80.65775985788036, + 1.2522106248776952 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -643.4471663204001, + 80.65775985788036, + 1.2522106248776952 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -646.4471663204001, + 80.65775985788036, + 1.2522106248776952 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -649.4471663204001, + 80.65775985788036, + 1.2522106248776952 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -652.4471663204001, + 80.65775985788036, + 1.2522106248776952 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -655.7620668029786, + 80.36062210083007, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_22-46-33_30387226/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_22-46-33_30387226/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..db0e6f4014d3120d3010b4f616e822d951f363b3 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_22-46-33_30387226/pose.jsonl @@ -0,0 +1,469 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -411.02744831048796, + -114.52166549559568, + 2.9697819051680785 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -408.02744831048796, + -114.52166549559568, + 2.9697819051680785 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -405.02744831048796, + -114.52166549559568, + 2.9697819051680785 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -402.02744831048796, + -114.52166549559568, + 2.9697819051680785 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -399.02744831048796, + -114.52166549559568, + 2.9697819051680785 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -396.02744831048796, + -114.52166549559568, + 2.9697819051680785 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -393.02744831048796, + -114.52166549559568, + 2.9697819051680785 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -390.02744831048796, + -114.52166549559568, + 2.9697819051680785 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -387.02744831048796, + -114.52166549559568, + 2.9697819051680785 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -384.02744831048796, + -114.52166549559568, + 2.9697819051680785 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -381.02744831048796, + -114.52166549559568, + 2.9697819051680785 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -378.02744831048796, + -114.52166549559568, + 2.9697819051680785 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -375.02744831048796, + -114.52166549559568, + 2.9697819051680785 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -372.02744831048796, + -114.52166549559568, + 2.9697819051680785 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -369.02744831048796, + -114.52166549559568, + 2.9697819051680785 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -366.02744831048796, + -114.52166549559568, + 2.9697819051680785 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -363.02744831048796, + -114.52166549559568, + 2.9697819051680785 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -360.02744831048796, + -114.52166549559568, + 2.9697819051680785 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -357.02744831048796, + -114.52166549559568, + 2.9697819051680785 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -354.02744831048796, + -114.52166549559568, + 2.9697819051680785 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -351.02744831048796, + -114.52166549559568, + 2.9697819051680785 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -348.02744831048796, + -114.52166549559568, + 2.9697819051680785 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -345.02744831048796, + -114.52166549559568, + 2.9697819051680785 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -342.02744831048796, + -114.52166549559568, + 2.9697819051680785 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -342.02744831048796, + -114.52166549559568, + 2.9697819051680785 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -342.02744831048796, + -114.52166549559568, + 2.9697819051680785 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -340.52744831048796, + -117.119741706949, + 2.9697819051680785 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -339.02744831048796, + -119.71781791830232, + 2.9697819051680785 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -337.52744831048796, + -122.31589412965563, + 2.9697819051680785 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -336.02744831048796, + -124.91397034100895, + 2.9697819051680785 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -334.52744831048796, + -127.51204655236226, + 2.9697819051680785 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -334.52744831048796, + -127.51204655236226, + 2.9697819051680785 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -331.92937209913464, + -129.01204655236225, + 2.9697819051680785 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982947 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -329.3312958877813, + -130.51204655236225, + 2.9697819051680785 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -326.733219676428, + -132.01204655236225, + 2.9697819051680785 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -323.98753799438475, + -133.34803604125977, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_22-58-49_1170132540/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_22-58-49_1170132540/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f01aecde9fbbc010377791e4f59a8b8abadd5125 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_22-58-49_1170132540/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -781.4897512580129, + -22.648662289968765, + -0.7183903575223578 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -784.0878274693662, + -21.148662289968765, + -0.7183903575223578 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -786.6859036807195, + -19.648662289968765, + -0.7183903575223578 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -789.2839798920729, + -18.148662289968765, + -0.7183903575223578 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -791.8820561034263, + -16.648662289968765, + -0.7183903575223578 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -794.4801323147797, + -15.148662289968765, + -0.7183903575223578 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -797.078208526133, + -13.648662289968765, + -0.7183903575223578 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -799.6762847374864, + -12.148662289968765, + -0.7183903575223578 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -802.2743609488398, + -10.648662289968765, + -0.7183903575223578 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -804.8724371601932, + -9.148662289968765, + -0.7183903575223578 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -807.4705133715465, + -7.648662289968765, + -0.7183903575223578 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -810.0685895828999, + -6.148662289968765, + -0.7183903575223578 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -812.6666657942533, + -4.648662289968765, + -0.7183903575223578 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -815.2647420056066, + -3.1486622899687653, + -0.7183903575223578 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -817.86281821696, + -1.6486622899687655, + -0.7183903575223578 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -820.4608944283134, + -0.14866228996876574, + -0.7183903575223578 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -823.0589706396668, + 1.351337710031234, + -0.7183903575223578 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -825.6570468510201, + 2.851337710031234, + -0.7183903575223578 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -828.2551230623735, + 4.351337710031234, + -0.7183903575223578 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -830.8531992737269, + 5.851337710031234, + -0.7183903575223578 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -830.8531992737269, + 5.851337710031234, + -0.7183903575223578 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -832.3531992737269, + 8.44941392138455, + -0.7183903575223578 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -833.8531992737269, + 11.047490132737867, + -0.7183903575223578 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -834.8437512207031, + 12.72820457458496, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_22-7-9_532495011/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_22-7-9_532495011/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ae7e468b24e52b7ca822bb9c2cce4aa00bb16c42 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_22-7-9_532495011/pose.jsonl @@ -0,0 +1,560 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -309.20901039355795, + -341.9002496867433, + -1.7859582680583634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -307.70901039355795, + -344.4983258980966, + -1.7859582680583634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -306.20901039355795, + -347.0964021094499, + -1.7859582680583634 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -306.20901039355795, + -347.0964021094499, + -1.7859582680583634 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -303.61093418220463, + -348.5964021094499, + -1.7859582680583634 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -301.0128579708513, + -350.0964021094499, + -1.7859582680583634 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -298.414781759498, + -351.5964021094499, + -1.7859582680583634 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -295.8167055481447, + -353.0964021094499, + -1.7859582680583634 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -293.21862933679137, + -354.5964021094499, + -1.7859582680583634 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -290.62055312543805, + -356.0964021094499, + -1.7859582680583634 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -288.02247691408473, + -357.5964021094499, + -1.7859582680583634 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -285.4244007027314, + -359.0964021094499, + -1.7859582680583634 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -282.8263244913781, + -360.5964021094499, + -1.7859582680583634 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -280.2282482800248, + -362.0964021094499, + -1.7859582680583634 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -277.63017206867147, + -363.5964021094499, + -1.7859582680583634 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -275.03209585731815, + -365.0964021094499, + -1.7859582680583634 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -272.43401964596484, + -366.5964021094499, + -1.7859582680583634 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -269.8359434346115, + -368.0964021094499, + -1.7859582680583634 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -267.2378672232582, + -369.5964021094499, + -1.7859582680583634 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -264.6397910119049, + -371.0964021094499, + -1.7859582680583634 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -262.0417148005516, + -372.5964021094499, + -1.7859582680583634 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -259.44363858919826, + -374.0964021094499, + -1.7859582680583634 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -256.84556237784494, + -375.5964021094499, + -1.7859582680583634 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -254.24748616649163, + -377.0964021094499, + -1.7859582680583634 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -251.6494099551383, + -378.5964021094499, + -1.7859582680583634 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -249.051333743785, + -380.0964021094499, + -1.7859582680583634 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -246.45325753243168, + -381.5964021094499, + -1.7859582680583634 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -243.85518132107836, + -383.0964021094499, + -1.7859582680583634 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -241.25710510972505, + -384.5964021094499, + -1.7859582680583634 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -238.65902889837173, + -386.0964021094499, + -1.7859582680583634 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -236.0609526870184, + -387.5964021094499, + -1.7859582680583634 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -233.4628764756651, + -389.0964021094499, + -1.7859582680583634 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -230.86480026431178, + -390.5964021094499, + -1.7859582680583634 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -230.86480026431178, + -390.5964021094499, + -1.7859582680583634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -229.36480026431178, + -393.1944783208032, + -1.7859582680583634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -227.86480026431178, + -395.79255453215654, + -1.7859582680583634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -226.36480026431178, + -398.39063074350986, + -1.7859582680583634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -224.86480026431178, + -400.9887069548632, + -1.7859582680583634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -223.36480026431178, + -403.5867831662165, + -1.7859582680583634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -221.86480026431178, + -406.1848593775698, + -1.7859582680583634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -220.36480026431178, + -408.7829355889231, + -1.7859582680583634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -218.86480026431178, + -411.38101180027644, + -1.7859582680583634 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -215.0078338623047, + -412.48035171508786, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_23-11-40_764851988/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_23-11-40_764851988/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d3b3742961ce2b6e8cb644924037083769872648 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_23-11-40_764851988/pose.jsonl @@ -0,0 +1,456 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -176.80869177750648, + 28.334568409230982, + 3.9485993806189867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -176.80869177750648, + 25.334568409230982, + 3.9485993806189867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -176.80869177750648, + 22.334568409230982, + 3.9485993806189867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -176.80869177750648, + 19.334568409230982, + 3.9485993806189867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -176.80869177750648, + 16.334568409230982, + 3.9485993806189867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -176.80869177750648, + 13.334568409230982, + 3.9485993806189867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -176.80869177750648, + 10.334568409230982, + 3.9485993806189867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -176.80869177750648, + 7.334568409230982, + 3.9485993806189867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -176.80869177750648, + 4.334568409230982, + 3.9485993806189867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -176.80869177750648, + 1.3345684092309824, + 3.9485993806189867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -176.80869177750648, + -1.6654315907690176, + 3.9485993806189867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -176.80869177750648, + -4.665431590769018, + 3.9485993806189867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -176.80869177750648, + -7.665431590769018, + 3.9485993806189867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -176.80869177750648, + -10.665431590769018, + 3.9485993806189867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -176.80869177750648, + -13.665431590769018, + 3.9485993806189867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -176.80869177750648, + -16.665431590769018, + 3.9485993806189867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -176.80869177750648, + -19.665431590769018, + 3.9485993806189867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -176.80869177750648, + -22.665431590769018, + 3.9485993806189867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -176.80869177750648, + -25.665431590769018, + 3.9485993806189867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -176.80869177750648, + -28.665431590769018, + 3.9485993806189867 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -176.80869177750648, + -28.665431590769018, + 3.9485993806189867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -175.30869177750648, + -31.263507802122334, + 3.9485993806189867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -173.80869177750648, + -33.86158401347565, + 3.9485993806189867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -172.30869177750648, + -36.459660224828966, + 3.9485993806189867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -170.80869177750648, + -39.05773643618228, + 3.9485993806189867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -169.30869177750648, + -41.6558126475356, + 3.9485993806189867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -167.80869177750648, + -44.253888858888914, + 3.9485993806189867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -166.30869177750648, + -46.85196507024223, + 3.9485993806189867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -164.80869177750648, + -49.450041281595546, + 3.9485993806189867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -163.30869177750648, + -52.04811749294886, + 3.9485993806189867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -161.80869177750648, + -54.64619370430218, + 3.9485993806189867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -160.30869177750648, + -57.244269915655494, + 3.9485993806189867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -158.80869177750648, + -59.84234612700881, + 3.9485993806189867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -157.30869177750648, + -62.440422338362126, + 3.9485993806189867 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -156.47577671051025, + -64.65314291000367, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_23-14-52_728149010/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_23-14-52_728149010/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1a725cefa82a47f3ce2a2a91af6251966aca66a6 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_23-14-52_728149010/pose.jsonl @@ -0,0 +1,352 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -751.980040242106, + 111.72472414006774, + -2.9905583698229448 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -753.480040242106, + 114.32280035142105, + -2.9905583698229448 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -754.980040242106, + 116.92087656277437, + -2.9905583698229448 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -756.480040242106, + 119.51895277412768, + -2.9905583698229448 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -757.980040242106, + 122.117028985481, + -2.9905583698229448 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -759.480040242106, + 124.71510519683432, + -2.9905583698229448 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -760.980040242106, + 127.31318140818763, + -2.9905583698229448 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -762.480040242106, + 129.91125761954095, + -2.9905583698229448 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -763.980040242106, + 132.50933383089426, + -2.9905583698229448 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -765.480040242106, + 135.10741004224758, + -2.9905583698229448 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -766.980040242106, + 137.7054862536009, + -2.9905583698229448 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -768.480040242106, + 140.3035624649542, + -2.9905583698229448 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -769.980040242106, + 142.90163867630753, + -2.9905583698229448 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -771.480040242106, + 145.49971488766084, + -2.9905583698229448 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -772.980040242106, + 148.09779109901416, + -2.9905583698229448 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -774.480040242106, + 150.69586731036748, + -2.9905583698229448 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -775.980040242106, + 153.2939435217208, + -2.9905583698229448 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -777.480040242106, + 155.8920197330741, + -2.9905583698229448 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -778.980040242106, + 158.49009594442742, + -2.9905583698229448 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -778.980040242106, + 158.49009594442742, + -2.9905583698229448 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -778.980040242106, + 161.49009594442742, + -2.9905583698229448 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -778.980040242106, + 164.49009594442742, + -2.9905583698229448 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -778.980040242106, + 167.49009594442742, + -2.9905583698229448 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -778.980040242106, + 170.49009594442742, + -2.9905583698229448 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -778.980040242106, + 173.49009594442742, + -2.9905583698229448 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -778.980040242106, + 176.49009594442742, + -2.9905583698229448 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -779.8773458862305, + 179.3161050415039, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_23-21-57_703955951/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_23-21-57_703955951/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dadfc01bbd06b06dd75306a8d6a469d02d56dc46 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_23-21-57_703955951/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -385.4714255839061, + -143.8862524913488, + -1.3822246644883767 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -388.06950179525944, + -145.3862524913488, + -1.3822246644883767 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -390.66757800661276, + -146.8862524913488, + -1.3822246644883767 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -393.2656542179661, + -148.3862524913488, + -1.3822246644883767 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -395.8637304293194, + -149.8862524913488, + -1.3822246644883767 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -398.4618066406727, + -151.3862524913488, + -1.3822246644883767 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -401.059882852026, + -152.8862524913488, + -1.3822246644883767 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -403.65795906337934, + -154.3862524913488, + -1.3822246644883767 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -406.25603527473265, + -155.8862524913488, + -1.3822246644883767 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -408.85411148608597, + -157.3862524913488, + -1.3822246644883767 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -411.4521876974393, + -158.8862524913488, + -1.3822246644883767 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -411.4521876974393, + -158.8862524913488, + -1.3822246644883767 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -414.4521876974393, + -158.8862524913488, + -1.3822246644883767 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -417.4521876974393, + -158.8862524913488, + -1.3822246644883767 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -420.4521876974393, + -158.8862524913488, + -1.3822246644883767 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -423.4521876974393, + -158.8862524913488, + -1.3822246644883767 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -426.4521876974393, + -158.8862524913488, + -1.3822246644883767 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -429.4521876974393, + -158.8862524913488, + -1.3822246644883767 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -432.4521876974393, + -158.8862524913488, + -1.3822246644883767 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -435.4521876974393, + -158.8862524913488, + -1.3822246644883767 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -438.4521876974393, + -158.8862524913488, + -1.3822246644883767 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -441.4521876974393, + -158.8862524913488, + -1.3822246644883767 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -444.4521876974393, + -158.8862524913488, + -1.3822246644883767 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -445.52278427124025, + -160.4525846862793, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_23-22-59_599529154/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_23-22-59_599529154/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f81b19e26548ccdb6961c64904b10bb79d2c480c --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_23-22-59_599529154/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -743.1631951995196, + 31.128895230351844, + 1.6746251854912053 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -744.6631951995196, + 33.72697144170516, + 1.6746251854912053 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -746.1631951995196, + 36.325047653058476, + 1.6746251854912053 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -747.6631951995196, + 38.92312386441179, + 1.6746251854912053 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -749.1631951995196, + 41.52120007576511, + 1.6746251854912053 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -750.6631951995196, + 44.119276287118424, + 1.6746251854912053 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -752.1631951995196, + 46.71735249847174, + 1.6746251854912053 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -753.6631951995196, + 49.315428709825056, + 1.6746251854912053 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -755.1631951995196, + 51.91350492117837, + 1.6746251854912053 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -756.6631951995196, + 54.51158113253169, + 1.6746251854912053 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -758.1631951995196, + 57.109657343885004, + 1.6746251854912053 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -759.6631951995196, + 59.70773355523832, + 1.6746251854912053 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -761.1631951995196, + 62.305809766591636, + 1.6746251854912053 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -761.1631951995196, + 62.305809766591636, + 1.6746251854912053 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -763.761271410873, + 63.805809766591636, + 1.6746251854912053 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -766.3593476222263, + 65.30580976659164, + 1.6746251854912053 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -768.9574238335797, + 66.80580976659164, + 1.6746251854912053 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -771.5555000449331, + 68.30580976659164, + 1.6746251854912053 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -774.1535762562864, + 69.80580976659164, + 1.6746251854912053 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -776.7516524676398, + 71.30580976659164, + 1.6746251854912053 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -779.3497286789932, + 72.80580976659164, + 1.6746251854912053 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -781.9478048903466, + 74.30580976659164, + 1.6746251854912053 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -781.9478048903466, + 74.30580976659164, + 1.6746251854912053 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -783.4478048903466, + 76.90388597794495, + 1.6746251854912053 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -784.9478048903466, + 79.50196218929827, + 1.6746251854912053 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -785.9369680786133, + 81.05284317016601, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_23-23-13_33713861/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_23-23-13_33713861/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..48fa72f8f40d5066da9b148b8c9727b87f4fd97c --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_23-23-13_33713861/pose.jsonl @@ -0,0 +1,430 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 272.2921446039081, + 612.4534322687523, + -4.494603378697434 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 270.7921446039081, + 615.0515084801057, + -4.494603378697434 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 269.2921446039081, + 617.649584691459, + -4.494603378697434 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 267.7921446039081, + 620.2476609028124, + -4.494603378697434 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 266.2921446039081, + 622.8457371141658, + -4.494603378697434 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 264.7921446039081, + 625.4438133255192, + -4.494603378697434 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 263.2921446039081, + 628.0418895368725, + -4.494603378697434 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 261.7921446039081, + 630.6399657482259, + -4.494603378697434 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 260.2921446039081, + 633.2380419595793, + -4.494603378697434 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 258.7921446039081, + 635.8361181709327, + -4.494603378697434 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 257.2921446039081, + 638.434194382286, + -4.494603378697434 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 255.79214460390813, + 641.0322705936394, + -4.494603378697434 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 254.29214460390813, + 643.6303468049928, + -4.494603378697434 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 252.79214460390813, + 646.2284230163461, + -4.494603378697434 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 251.29214460390813, + 648.8264992276995, + -4.494603378697434 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 249.79214460390813, + 651.4245754390529, + -4.494603378697434 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 248.29214460390813, + 654.0226516504063, + -4.494603378697434 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 246.79214460390813, + 656.6207278617596, + -4.494603378697434 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 245.29214460390813, + 659.218804073113, + -4.494603378697434 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 243.79214460390813, + 661.8168802844664, + -4.494603378697434 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 242.29214460390813, + 664.4149564958198, + -4.494603378697434 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 240.79214460390813, + 667.0130327071731, + -4.494603378697434 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 239.29214460390813, + 669.6111089185265, + -4.494603378697434 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 237.79214460390813, + 672.2091851298799, + -4.494603378697434 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 236.29214460390813, + 674.8072613412332, + -4.494603378697434 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 234.79214460390813, + 677.4053375525866, + -4.494603378697434 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 233.29214460390813, + 680.00341376394, + -4.494603378697434 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 231.79214460390813, + 682.6014899752934, + -4.494603378697434 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 230.29214460390813, + 685.1995661866467, + -4.494603378697434 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 230.29214460390813, + 685.1995661866467, + -4.494603378697434 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 230.29214460390813, + 688.1995661866467, + -4.494603378697434 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 230.29214460390813, + 691.1995661866467, + -4.494603378697434 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 229.7172834777832, + 692.2608906555175, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_23-26-37_461851014/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_23-26-37_461851014/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3b4b4de5af2f3dcc1813a459ec43f2a347c87eb5 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_23-26-37_461851014/pose.jsonl @@ -0,0 +1,391 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -887.8962847513365, + 339.40319413393263, + -2.7689865135107996 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -885.2982085399831, + 337.90319413393263, + -2.7689865135107996 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -882.7001323286297, + 336.40319413393263, + -2.7689865135107996 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -880.1020561172763, + 334.90319413393263, + -2.7689865135107996 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -877.503979905923, + 333.40319413393263, + -2.7689865135107996 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -874.9059036945696, + 331.90319413393263, + -2.7689865135107996 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -872.3078274832162, + 330.40319413393263, + -2.7689865135107996 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -869.7097512718628, + 328.90319413393263, + -2.7689865135107996 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -867.1116750605095, + 327.40319413393263, + -2.7689865135107996 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -864.5135988491561, + 325.90319413393263, + -2.7689865135107996 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -861.9155226378027, + 324.40319413393263, + -2.7689865135107996 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -859.3174464264494, + 322.90319413393263, + -2.7689865135107996 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -856.719370215096, + 321.40319413393263, + -2.7689865135107996 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -854.1212940037426, + 319.90319413393263, + -2.7689865135107996 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -851.5232177923892, + 318.40319413393263, + -2.7689865135107996 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -848.9251415810359, + 316.90319413393263, + -2.7689865135107996 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -846.3270653696825, + 315.40319413393263, + -2.7689865135107996 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -843.7289891583291, + 313.90319413393263, + -2.7689865135107996 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -841.1309129469757, + 312.40319413393263, + -2.7689865135107996 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -838.5328367356224, + 310.90319413393263, + -2.7689865135107996 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -835.934760524269, + 309.40319413393263, + -2.7689865135107996 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -833.3366843129156, + 307.90319413393263, + -2.7689865135107996 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -830.7386081015622, + 306.40319413393263, + -2.7689865135107996 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -828.1405318902089, + 304.90319413393263, + -2.7689865135107996 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -825.5424556788555, + 303.40319413393263, + -2.7689865135107996 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -822.9443794675021, + 301.90319413393263, + -2.7689865135107996 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -822.9443794675021, + 301.90319413393263, + -2.7689865135107996 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -821.4443794675021, + 299.3051179225793, + -2.7689865135107996 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -819.9443794675021, + 296.707041711226, + -2.7689865135107996 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -802.5129748535156, + 284.37975662231446, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_23-27-20_2020432100/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_23-27-20_2020432100/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3a2087da97d473df07fc1d148d0815bb26ef4036 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_23-27-20_2020432100/pose.jsonl @@ -0,0 +1,469 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -295.3072944692254, + 469.68884074030285, + -3.9586315705614163 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -296.8072944692254, + 472.28691695165617, + -3.9586315705614163 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -298.3072944692254, + 474.8849931630095, + -3.9586315705614163 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -299.8072944692254, + 477.4830693743628, + -3.9586315705614163 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -301.3072944692254, + 480.0811455857161, + -3.9586315705614163 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -302.8072944692254, + 482.67922179706943, + -3.9586315705614163 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -304.3072944692254, + 485.27729800842275, + -3.9586315705614163 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -305.8072944692254, + 487.87537421977606, + -3.9586315705614163 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -307.3072944692254, + 490.4734504311294, + -3.9586315705614163 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -308.8072944692254, + 493.0715266424827, + -3.9586315705614163 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -310.3072944692254, + 495.669602853836, + -3.9586315705614163 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -311.8072944692254, + 498.2676790651893, + -3.9586315705614163 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -313.3072944692254, + 500.86575527654264, + -3.9586315705614163 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -314.8072944692254, + 503.46383148789596, + -3.9586315705614163 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -316.3072944692254, + 506.0619076992493, + -3.9586315705614163 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -317.8072944692254, + 508.6599839106026, + -3.9586315705614163 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -319.3072944692254, + 511.2580601219559, + -3.9586315705614163 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -320.8072944692254, + 513.8561363333092, + -3.9586315705614163 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -322.3072944692254, + 516.4542125446626, + -3.9586315705614163 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -323.8072944692254, + 519.052288756016, + -3.9586315705614163 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -325.3072944692254, + 521.6503649673693, + -3.9586315705614163 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -326.8072944692254, + 524.2484411787227, + -3.9586315705614163 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -328.3072944692254, + 526.8465173900761, + -3.9586315705614163 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -329.8072944692254, + 529.4445936014295, + -3.9586315705614163 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -331.3072944692254, + 532.0426698127828, + -3.9586315705614163 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -332.8072944692254, + 534.6407460241362, + -3.9586315705614163 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -332.8072944692254, + 534.6407460241362, + -3.9586315705614163 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -332.8072944692254, + 537.6407460241362, + -3.9586315705614163 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -332.8072944692254, + 540.6407460241362, + -3.9586315705614163 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -332.8072944692254, + 543.6407460241362, + -3.9586315705614163 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -332.8072944692254, + 546.6407460241362, + -3.9586315705614163 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -332.8072944692254, + 549.6407460241362, + -3.9586315705614163 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -332.8072944692254, + 552.6407460241362, + -3.9586315705614163 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -332.8072944692254, + 555.6407460241362, + -3.9586315705614163 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -332.8072944692254, + 558.6407460241362, + -3.9586315705614163 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -335.0891884613037, + 561.9170278930663, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_23-27-7_2028720897/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_23-27-7_2028720897/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2f8671acec236779fac0ef1f71499bdff1adf16c --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_23-27-7_2028720897/pose.jsonl @@ -0,0 +1,287 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -915.2230445619591, + 380.2071245331944, + 1.4994500902890904 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -917.8211207733125, + 378.7071245331944, + 1.4994500902890904 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -920.4191969846659, + 377.2071245331944, + 1.4994500902890904 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -923.0172731960192, + 375.7071245331944, + 1.4994500902890904 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -925.6153494073726, + 374.2071245331944, + 1.4994500902890904 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -928.213425618726, + 372.7071245331944, + 1.4994500902890904 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -930.8115018300794, + 371.2071245331944, + 1.4994500902890904 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -933.4095780414327, + 369.7071245331944, + 1.4994500902890904 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -936.0076542527861, + 368.2071245331944, + 1.4994500902890904 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -938.6057304641395, + 366.7071245331944, + 1.4994500902890904 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -941.2038066754928, + 365.2071245331944, + 1.4994500902890904 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -943.8018828868462, + 363.7071245331944, + 1.4994500902890904 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -946.3999590981996, + 362.2071245331944, + 1.4994500902890904 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -948.998035309553, + 360.7071245331944, + 1.4994500902890904 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -951.5961115209063, + 359.2071245331944, + 1.4994500902890904 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -954.1941877322597, + 357.7071245331944, + 1.4994500902890904 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -956.7922639436131, + 356.2071245331944, + 1.4994500902890904 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -956.7922639436131, + 356.2071245331944, + 1.4994500902890904 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -959.7922639436131, + 356.2071245331944, + 1.4994500902890904 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -962.7922639436131, + 356.2071245331944, + 1.4994500902890904 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -965.7922639436131, + 356.2071245331944, + 1.4994500902890904 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1001.9772616577148, + 339.91288177490236, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_23-29-20_104852634/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_23-29-20_104852634/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..05ed22e9fabd446270cb7511d6e7a60067ab63ca --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_23-29-20_104852634/pose.jsonl @@ -0,0 +1,508 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -470.0200189745469, + -386.00115791416147, + -1.1743126307841152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -472.6180951859002, + -384.50115791416147, + -1.1743126307841152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -475.2161713972535, + -383.00115791416147, + -1.1743126307841152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -477.8142476086068, + -381.50115791416147, + -1.1743126307841152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -480.41232381996014, + -380.00115791416147, + -1.1743126307841152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -483.01040003131345, + -378.50115791416147, + -1.1743126307841152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -485.60847624266677, + -377.00115791416147, + -1.1743126307841152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -488.2065524540201, + -375.50115791416147, + -1.1743126307841152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -490.8046286653734, + -374.00115791416147, + -1.1743126307841152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -493.4027048767267, + -372.50115791416147, + -1.1743126307841152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -496.00078108808003, + -371.00115791416147, + -1.1743126307841152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -498.59885729943335, + -369.50115791416147, + -1.1743126307841152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -501.19693351078666, + -368.00115791416147, + -1.1743126307841152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -503.79500972214, + -366.50115791416147, + -1.1743126307841152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -506.3930859334933, + -365.00115791416147, + -1.1743126307841152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -508.9911621448466, + -363.50115791416147, + -1.1743126307841152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -511.5892383561999, + -362.00115791416147, + -1.1743126307841152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -514.1873145675532, + -360.50115791416147, + -1.1743126307841152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -516.7853907789065, + -359.00115791416147, + -1.1743126307841152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -519.3834669902599, + -357.50115791416147, + -1.1743126307841152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -521.9815432016132, + -356.00115791416147, + -1.1743126307841152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -524.5796194129666, + -354.50115791416147, + -1.1743126307841152 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -524.5796194129666, + -354.50115791416147, + -1.1743126307841152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -526.0796194129666, + -351.90308170280815, + -1.1743126307841152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -527.5796194129666, + -349.30500549145484, + -1.1743126307841152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -529.0796194129666, + -346.7069292801015, + -1.1743126307841152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -530.5796194129666, + -344.1088530687482, + -1.1743126307841152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -532.0796194129666, + -341.5107768573949, + -1.1743126307841152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -533.5796194129666, + -338.91270064604157, + -1.1743126307841152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -535.0796194129666, + -336.31462443468826, + -1.1743126307841152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -536.5796194129666, + -333.71654822333494, + -1.1743126307841152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -538.0796194129666, + -331.1184720119816, + -1.1743126307841152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -539.5796194129666, + -328.5203958006283, + -1.1743126307841152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -541.0796194129666, + -325.922319589275, + -1.1743126307841152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -542.5796194129666, + -323.3242433779217, + -1.1743126307841152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -544.0796194129666, + -320.72616716656836, + -1.1743126307841152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -545.5796194129666, + -318.12809095521504, + -1.1743126307841152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -547.0796194129666, + -315.5300147438617, + -1.1743126307841152 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -545.8660174560547, + -312.8632476806641, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_23-30-35_649022765/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_23-30-35_649022765/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cb9ad8034dd4be5aba260c5b600954009f1e6aa4 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_23-30-35_649022765/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -930.625309601003, + 371.11197487604215, + -2.9119438238529183 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -929.125309601003, + 373.71005108739547, + -2.9119438238529183 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -927.625309601003, + 376.3081272987488, + -2.9119438238529183 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -926.125309601003, + 378.9062035101021, + -2.9119438238529183 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -924.625309601003, + 381.5042797214554, + -2.9119438238529183 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -923.125309601003, + 384.10235593280873, + -2.9119438238529183 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -921.625309601003, + 386.70043214416205, + -2.9119438238529183 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -920.125309601003, + 389.29850835551537, + -2.9119438238529183 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -918.625309601003, + 391.8965845668687, + -2.9119438238529183 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -917.125309601003, + 394.494660778222, + -2.9119438238529183 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -915.625309601003, + 397.0927369895753, + -2.9119438238529183 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -914.125309601003, + 399.69081320092863, + -2.9119438238529183 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -914.125309601003, + 399.69081320092863, + -2.9119438238529183 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -911.5272333896496, + 401.19081320092863, + -2.9119438238529183 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -908.9291571782962, + 402.69081320092863, + -2.9119438238529183 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -906.3310809669429, + 404.19081320092863, + -2.9119438238529183 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -903.7330047555895, + 405.69081320092863, + -2.9119438238529183 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -901.1349285442361, + 407.19081320092863, + -2.9119438238529183 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -898.5368523328827, + 408.69081320092863, + -2.9119438238529183 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -895.9387761215294, + 410.19081320092863, + -2.9119438238529183 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -893.340699910176, + 411.69081320092863, + -2.9119438238529183 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -890.7426236988226, + 413.19081320092863, + -2.9119438238529183 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -888.1445474874693, + 414.69081320092863, + -2.9119438238529183 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -885.5464712761159, + 416.19081320092863, + -2.9119438238529183 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -884.2225183105469, + 417.81855880737305, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_23-31-15_682736626/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_23-31-15_682736626/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bf0b9d8f1b53a63dea1ff6f1cdbe7ecf252332db --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_23-31-15_682736626/pose.jsonl @@ -0,0 +1,417 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -470.4083119972176, + 442.9325638763905, + -4.776457715689151 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -467.4083119972176, + 442.9325638763905, + -4.776457715689151 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -464.4083119972176, + 442.9325638763905, + -4.776457715689151 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -461.4083119972176, + 442.9325638763905, + -4.776457715689151 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -458.4083119972176, + 442.9325638763905, + -4.776457715689151 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -458.4083119972176, + 442.9325638763905, + -4.776457715689151 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -458.4083119972176, + 442.9325638763905, + -4.776457715689151 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -456.9083119972176, + 445.5306400877438, + -4.776457715689151 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -455.4083119972176, + 448.1287162990971, + -4.776457715689151 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -455.4083119972176, + 448.1287162990971, + -4.776457715689151 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -452.8102357858643, + 449.6287162990971, + -4.776457715689151 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -450.21215957451096, + 451.1287162990971, + -4.776457715689151 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -447.61408336315765, + 452.6287162990971, + -4.776457715689151 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -445.01600715180433, + 454.1287162990971, + -4.776457715689151 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -442.417930940451, + 455.6287162990971, + -4.776457715689151 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -439.8198547290977, + 457.1287162990971, + -4.776457715689151 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -437.2217785177444, + 458.6287162990971, + -4.776457715689151 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -434.62370230639107, + 460.1287162990971, + -4.776457715689151 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -432.02562609503775, + 461.6287162990971, + -4.776457715689151 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -429.42754988368443, + 463.1287162990971, + -4.776457715689151 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -426.8294736723311, + 464.6287162990971, + -4.776457715689151 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -424.2313974609778, + 466.1287162990971, + -4.776457715689151 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -421.6333212496245, + 467.6287162990971, + -4.776457715689151 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -419.03524503827117, + 469.1287162990971, + -4.776457715689151 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -416.43716882691785, + 470.6287162990971, + -4.776457715689151 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -413.83909261556454, + 472.1287162990971, + -4.776457715689151 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -411.2410164042112, + 473.6287162990971, + -4.776457715689151 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -408.6429401928579, + 475.1287162990971, + -4.776457715689151 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -406.0448639815046, + 476.6287162990971, + -4.776457715689151 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -403.4467877701513, + 478.1287162990971, + -4.776457715689151 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -400.84871155879796, + 479.6287162990971, + -4.776457715689151 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -399.08082916259764, + 479.4950012207031, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_23-33-59_25222833/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_23-33-59_25222833/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..06eae41c5b516d411c40978f9ee047175a16a8f3 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_23-33-59_25222833/pose.jsonl @@ -0,0 +1,378 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -318.9749051397509, + -520.9711174095296, + -0.12217421574827902 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -317.4749051397509, + -518.3730411981762, + -0.12217421574827902 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -315.9749051397509, + -515.7749649868229, + -0.12217421574827902 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -314.4749051397509, + -513.1768887754695, + -0.12217421574827902 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -312.9749051397509, + -510.57881256411616, + -0.12217421574827902 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -311.4749051397509, + -507.98073635276285, + -0.12217421574827902 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -309.9749051397509, + -505.38266014140953, + -0.12217421574827902 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -308.4749051397509, + -502.7845839300562, + -0.12217421574827902 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -306.9749051397509, + -500.1865077187029, + -0.12217421574827902 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -305.4749051397509, + -497.5884315073496, + -0.12217421574827902 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -303.9749051397509, + -494.99035529599627, + -0.12217421574827902 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -302.4749051397509, + -492.39227908464295, + -0.12217421574827902 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -300.9749051397509, + -489.79420287328963, + -0.12217421574827902 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -299.4749051397509, + -487.1961266619363, + -0.12217421574827902 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -297.9749051397509, + -484.598050450583, + -0.12217421574827902 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -297.9749051397509, + -484.598050450583, + -0.12217421574827902 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -295.3768289283976, + -483.098050450583, + -0.12217421574827902 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -292.77875271704426, + -481.598050450583, + -0.12217421574827902 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -290.18067650569094, + -480.098050450583, + -0.12217421574827902 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -287.5826002943376, + -478.598050450583, + -0.12217421574827902 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -284.9845240829843, + -477.098050450583, + -0.12217421574827902 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -282.386447871631, + -475.598050450583, + -0.12217421574827902 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -279.7883716602777, + -474.098050450583, + -0.12217421574827902 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -277.19029544892436, + -472.598050450583, + -0.12217421574827902 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -274.59221923757104, + -471.098050450583, + -0.12217421574827902 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -274.59221923757104, + -471.098050450583, + -0.12217421574827902 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -273.09221923757104, + -468.4999742392297, + -0.12217421574827902 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -271.59221923757104, + -465.90189802787637, + -0.12217421574827902 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -270.6246540832519, + -464.87673126220704, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_23-38-45_1233114544/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_23-38-45_1233114544/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4f5a0a6a3b0d751ab75bfecebe49f73fa5740d65 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_23-38-45_1233114544/pose.jsonl @@ -0,0 +1,378 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -762.4159738506888, + 254.79746862005356, + -4.616933036695284 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -762.4159738506888, + 251.79746862005356, + -4.616933036695284 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -762.4159738506888, + 248.79746862005356, + -4.616933036695284 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -762.4159738506888, + 245.79746862005356, + -4.616933036695284 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -762.4159738506888, + 242.79746862005356, + -4.616933036695284 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -762.4159738506888, + 239.79746862005356, + -4.616933036695284 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -762.4159738506888, + 236.79746862005356, + -4.616933036695284 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -762.4159738506888, + 233.79746862005356, + -4.616933036695284 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -762.4159738506888, + 230.79746862005356, + -4.616933036695284 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -762.4159738506888, + 227.79746862005356, + -4.616933036695284 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -762.4159738506888, + 224.79746862005356, + -4.616933036695284 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -762.4159738506888, + 221.79746862005356, + -4.616933036695284 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -762.4159738506888, + 218.79746862005356, + -4.616933036695284 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -762.4159738506888, + 215.79746862005356, + -4.616933036695284 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -762.4159738506888, + 212.79746862005356, + -4.616933036695284 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -762.4159738506888, + 209.79746862005356, + -4.616933036695284 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -762.4159738506888, + 209.79746862005356, + -4.616933036695284 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -763.9159738506888, + 207.19939240870025, + -4.616933036695284 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -765.4159738506888, + 204.60131619734693, + -4.616933036695284 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -766.9159738506888, + 202.00323998599362, + -4.616933036695284 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -768.4159738506888, + 199.4051637746403, + -4.616933036695284 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -769.9159738506888, + 196.80708756328698, + -4.616933036695284 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -771.4159738506888, + 194.20901135193367, + -4.616933036695284 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -772.9159738506888, + 191.61093514058035, + -4.616933036695284 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -774.4159738506888, + 189.01285892922704, + -4.616933036695284 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -775.9159738506888, + 186.41478271787372, + -4.616933036695284 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -777.4159738506888, + 183.8167065065204, + -4.616933036695284 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -778.9159738506888, + 181.2186302951671, + -4.616933036695284 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -779.8773458862305, + 179.3161050415039, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_23-47-0_421825361/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_23-47-0_421825361/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b7b9b5c1264e1b22ba5c8842ca0dee34929751c0 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_23-47-0_421825361/pose.jsonl @@ -0,0 +1,560 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -347.98293640220567, + -244.0124999438176, + 2.999931595081633 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -345.38486019085235, + -242.5124999438176, + 2.999931595081633 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -342.78678397949903, + -241.0124999438176, + 2.999931595081633 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -340.1887077681457, + -239.5124999438176, + 2.999931595081633 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -340.1887077681457, + -239.5124999438176, + 2.999931595081633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -338.6887077681457, + -236.9144237324643, + 2.999931595081633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -337.1887077681457, + -234.31634752111097, + 2.999931595081633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -335.6887077681457, + -231.71827130975765, + 2.999931595081633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -334.1887077681457, + -229.12019509840434, + 2.999931595081633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -332.6887077681457, + -226.52211888705102, + 2.999931595081633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -331.1887077681457, + -223.9240426756977, + 2.999931595081633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -329.6887077681457, + -221.3259664643444, + 2.999931595081633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -328.1887077681457, + -218.72789025299107, + 2.999931595081633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -326.6887077681457, + -216.12981404163776, + 2.999931595081633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -325.1887077681457, + -213.53173783028444, + 2.999931595081633 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -325.1887077681457, + -213.53173783028444, + 2.999931595081633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -325.1887077681457, + -210.53173783028444, + 2.999931595081633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -325.1887077681457, + -207.53173783028444, + 2.999931595081633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -325.1887077681457, + -204.53173783028444, + 2.999931595081633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -325.1887077681457, + -201.53173783028444, + 2.999931595081633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -325.1887077681457, + -198.53173783028444, + 2.999931595081633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -325.1887077681457, + -195.53173783028444, + 2.999931595081633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -325.1887077681457, + -192.53173783028444, + 2.999931595081633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -325.1887077681457, + -189.53173783028444, + 2.999931595081633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -325.1887077681457, + -186.53173783028444, + 2.999931595081633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -325.1887077681457, + -183.53173783028444, + 2.999931595081633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -325.1887077681457, + -180.53173783028444, + 2.999931595081633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -325.1887077681457, + -177.53173783028444, + 2.999931595081633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -325.1887077681457, + -174.53173783028444, + 2.999931595081633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -325.1887077681457, + -171.53173783028444, + 2.999931595081633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -325.1887077681457, + -168.53173783028444, + 2.999931595081633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -325.1887077681457, + -165.53173783028444, + 2.999931595081633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -325.1887077681457, + -162.53173783028444, + 2.999931595081633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -325.1887077681457, + -159.53173783028444, + 2.999931595081633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -325.1887077681457, + -156.53173783028444, + 2.999931595081633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -325.1887077681457, + -153.53173783028444, + 2.999931595081633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -325.1887077681457, + -150.53173783028444, + 2.999931595081633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -325.1887077681457, + -147.53173783028444, + 2.999931595081633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -325.1887077681457, + -144.53173783028444, + 2.999931595081633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -325.1887077681457, + -141.53173783028444, + 2.999931595081633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -325.1887077681457, + -138.53173783028444, + 2.999931595081633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -325.1887077681457, + -135.53173783028444, + 2.999931595081633 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -323.98753799438475, + -133.34803604125977, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_23-47-38_1731563037/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_23-47-38_1731563037/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..17feea26a4b412e4321d8a0c34d77afcff572b04 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_23-47-38_1731563037/pose.jsonl @@ -0,0 +1,417 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -672.7660551787998, + 320.30498631642683, + 1.1201546299577725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -674.2660551787998, + 317.7069101050735, + 1.1201546299577725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -675.7660551787998, + 315.1088338937202, + 1.1201546299577725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -677.2660551787998, + 312.5107576823669, + 1.1201546299577725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -678.7660551787998, + 309.91268147101357, + 1.1201546299577725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -680.2660551787998, + 307.31460525966025, + 1.1201546299577725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -681.7660551787998, + 304.71652904830694, + 1.1201546299577725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -683.2660551787998, + 302.1184528369536, + 1.1201546299577725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -684.7660551787998, + 299.5203766256003, + 1.1201546299577725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -686.2660551787998, + 296.922300414247, + 1.1201546299577725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -687.7660551787998, + 294.3242242028937, + 1.1201546299577725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -689.2660551787998, + 291.72614799154036, + 1.1201546299577725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -690.7660551787998, + 289.12807178018704, + 1.1201546299577725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -692.2660551787998, + 286.5299955688337, + 1.1201546299577725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -693.7660551787998, + 283.9319193574804, + 1.1201546299577725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -695.2660551787998, + 281.3338431461271, + 1.1201546299577725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -696.7660551787998, + 278.7357669347738, + 1.1201546299577725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -698.2660551787998, + 276.13769072342046, + 1.1201546299577725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -699.7660551787998, + 273.53961451206715, + 1.1201546299577725 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -699.7660551787998, + 273.53961451206715, + 1.1201546299577725 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -699.7660551787998, + 270.53961451206715, + 1.1201546299577725 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -699.7660551787998, + 267.53961451206715, + 1.1201546299577725 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -699.7660551787998, + 264.53961451206715, + 1.1201546299577725 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -699.7660551787998, + 261.53961451206715, + 1.1201546299577725 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -699.7660551787998, + 258.53961451206715, + 1.1201546299577725 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -699.7660551787998, + 255.53961451206715, + 1.1201546299577725 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -699.7660551787998, + 252.53961451206715, + 1.1201546299577725 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -699.7660551787998, + 249.53961451206715, + 1.1201546299577725 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -699.7660551787998, + 246.53961451206715, + 1.1201546299577725 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -699.7660551787998, + 243.53961451206715, + 1.1201546299577725 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -699.7660551787998, + 240.53961451206715, + 1.1201546299577725 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -701.6309753417969, + 238.16310417175293, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_23-47-54_1460654187/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_23-47-54_1460654187/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7e5c0a55f34ef5435a2ab0b123150652da9335ec --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_23-47-54_1460654187/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -182.99592584816565, + 612.6087296593063, + -2.758384814240879 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -184.49592584816565, + 615.2068058706595, + -2.758384814240879 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -185.99592584816565, + 617.8048820820129, + -2.758384814240879 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -187.49592584816565, + 620.4029582933663, + -2.758384814240879 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -188.99592584816565, + 623.0010345047197, + -2.758384814240879 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -190.49592584816565, + 625.599110716073, + -2.758384814240879 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -191.99592584816565, + 628.1971869274264, + -2.758384814240879 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -193.49592584816565, + 630.7952631387798, + -2.758384814240879 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -194.99592584816565, + 633.3933393501331, + -2.758384814240879 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -196.49592584816565, + 635.9914155614865, + -2.758384814240879 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -197.99592584816565, + 638.5894917728399, + -2.758384814240879 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -199.49592584816565, + 641.1875679841933, + -2.758384814240879 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -200.99592584816565, + 643.7856441955466, + -2.758384814240879 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -200.99592584816565, + 643.7856441955466, + -2.758384814240879 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -203.59400205951897, + 645.2856441955466, + -2.758384814240879 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -206.1920782708723, + 646.7856441955466, + -2.758384814240879 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -208.7901544822256, + 648.2856441955466, + -2.758384814240879 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -211.38823069357892, + 649.7856441955466, + -2.758384814240879 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -213.98630690493223, + 651.2856441955466, + -2.758384814240879 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -216.58438311628555, + 652.7856441955466, + -2.758384814240879 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -219.18245932763887, + 654.2856441955466, + -2.758384814240879 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -221.78053553899218, + 655.7856441955466, + -2.758384814240879 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -224.3786117503455, + 657.2856441955466, + -2.758384814240879 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -224.3786117503455, + 657.2856441955466, + -2.758384814240879 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -225.8786117503455, + 659.8837204069, + -2.758384814240879 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931957 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -227.7933927154541, + 663.3823291015625, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_23-56-32_1781485213/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_23-56-32_1781485213/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a5f8c645af35d4fe63d6fccd24023b2e5e2f6d56 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_23-56-32_1781485213/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -660.764340274611, + 106.94473324444057, + 0.7339510314377131 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -659.264340274611, + 104.34665703308725, + 0.7339510314377131 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -657.764340274611, + 101.74858082173394, + 0.7339510314377131 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -656.264340274611, + 99.15050461038062, + 0.7339510314377131 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -654.764340274611, + 96.5524283990273, + 0.7339510314377131 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -653.264340274611, + 93.95435218767399, + 0.7339510314377131 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -651.764340274611, + 91.35627597632067, + 0.7339510314377131 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -650.264340274611, + 88.75819976496736, + 0.7339510314377131 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -648.764340274611, + 86.16012355361404, + 0.7339510314377131 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -647.264340274611, + 83.56204734226073, + 0.7339510314377131 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -645.764340274611, + 80.96397113090741, + 0.7339510314377131 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -644.264340274611, + 78.3658949195541, + 0.7339510314377131 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -642.764340274611, + 75.76781870820078, + 0.7339510314377131 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -641.264340274611, + 73.16974249684746, + 0.7339510314377131 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -639.764340274611, + 70.57166628549415, + 0.7339510314377131 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -638.264340274611, + 67.97359007414083, + 0.7339510314377131 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -636.764340274611, + 65.37551386278751, + 0.7339510314377131 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -635.264340274611, + 62.7774376514342, + 0.7339510314377131 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -633.764340274611, + 60.17936144008088, + 0.7339510314377131 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -632.264340274611, + 57.581285228727566, + 0.7339510314377131 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -630.764340274611, + 54.98320901737425, + 0.7339510314377131 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -630.764340274611, + 54.98320901737425, + 0.7339510314377131 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -630.764340274611, + 51.98320901737425, + 0.7339510314377131 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -629.9300636291504, + 48.19314208984375, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_23-56-58_1245466382/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_23-56-58_1245466382/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..68a1ed0319eb4437aa4c6c409b6a3bca4a6776b7 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_23-56-58_1245466382/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -726.5868995040827, + 288.35335580184733, + 0.5430923997266532 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -729.5868995040827, + 288.35335580184733, + 0.5430923997266532 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -732.5868995040827, + 288.35335580184733, + 0.5430923997266532 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -735.5868995040827, + 288.35335580184733, + 0.5430923997266532 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -738.5868995040827, + 288.35335580184733, + 0.5430923997266532 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -741.5868995040827, + 288.35335580184733, + 0.5430923997266532 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -744.5868995040827, + 288.35335580184733, + 0.5430923997266532 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -747.5868995040827, + 288.35335580184733, + 0.5430923997266532 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -750.5868995040827, + 288.35335580184733, + 0.5430923997266532 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -753.5868995040827, + 288.35335580184733, + 0.5430923997266532 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -756.5868995040827, + 288.35335580184733, + 0.5430923997266532 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -759.5868995040827, + 288.35335580184733, + 0.5430923997266532 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -762.5868995040827, + 288.35335580184733, + 0.5430923997266532 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -765.5868995040827, + 288.35335580184733, + 0.5430923997266532 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -768.5868995040827, + 288.35335580184733, + 0.5430923997266532 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -771.5868995040827, + 288.35335580184733, + 0.5430923997266532 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -774.5868995040827, + 288.35335580184733, + 0.5430923997266532 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -777.5868995040827, + 288.35335580184733, + 0.5430923997266532 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -780.5868995040827, + 288.35335580184733, + 0.5430923997266532 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -783.5868995040827, + 288.35335580184733, + 0.5430923997266532 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -783.5868995040827, + 288.35335580184733, + 0.5430923997266532 + ], + "type": "turn left", + "value": 30, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -783.5868995040827, + 288.35335580184733, + 0.5430923997266532 + ], + "type": "go straight", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -785.0868995040827, + 285.755279590494, + 0.5430923997266532 + ], + "type": "stop", + "value": 0, + "yaw": 4.1887902047863905 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -802.5129748535156, + 284.37975662231446, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_23-6-44_266222407/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_23-6-44_266222407/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..220bb1e4bfe874ac906d6ea4075c7653731f7cfc --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_23-6-44_266222407/pose.jsonl @@ -0,0 +1,443 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -807.5215042992469, + 182.3116716588369, + -4.0222339852572775 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -804.9234280878936, + 180.8116716588369, + -4.0222339852572775 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -802.3253518765403, + 179.3116716588369, + -4.0222339852572775 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -799.7272756651869, + 177.8116716588369, + -4.0222339852572775 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -797.1291994538335, + 176.3116716588369, + -4.0222339852572775 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -794.5311232424801, + 174.8116716588369, + -4.0222339852572775 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -791.9330470311268, + 173.3116716588369, + -4.0222339852572775 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -789.3349708197734, + 171.8116716588369, + -4.0222339852572775 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -786.73689460842, + 170.3116716588369, + -4.0222339852572775 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -784.1388183970666, + 168.8116716588369, + -4.0222339852572775 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -781.5407421857133, + 167.3116716588369, + -4.0222339852572775 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -778.9426659743599, + 165.8116716588369, + -4.0222339852572775 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -776.3445897630065, + 164.3116716588369, + -4.0222339852572775 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -773.7465135516532, + 162.8116716588369, + -4.0222339852572775 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -771.1484373402998, + 161.3116716588369, + -4.0222339852572775 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -768.5503611289464, + 159.8116716588369, + -4.0222339852572775 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -765.952284917593, + 158.3116716588369, + -4.0222339852572775 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -763.3542087062397, + 156.8116716588369, + -4.0222339852572775 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -760.7561324948863, + 155.3116716588369, + -4.0222339852572775 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -758.1580562835329, + 153.8116716588369, + -4.0222339852572775 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -755.5599800721795, + 152.3116716588369, + -4.0222339852572775 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -752.9619038608262, + 150.8116716588369, + -4.0222339852572775 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -750.3638276494728, + 149.3116716588369, + -4.0222339852572775 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -747.7657514381194, + 147.8116716588369, + -4.0222339852572775 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -745.167675226766, + 146.3116716588369, + -4.0222339852572775 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -742.5695990154127, + 144.8116716588369, + -4.0222339852572775 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -739.9715228040593, + 143.3116716588369, + -4.0222339852572775 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -737.3734465927059, + 141.8116716588369, + -4.0222339852572775 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -734.7753703813526, + 140.3116716588369, + -4.0222339852572775 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -734.7753703813526, + 140.3116716588369, + -4.0222339852572775 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -733.2753703813526, + 137.71359544748358, + -4.0222339852572775 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -731.7753703813526, + 135.11551923613027, + -4.0222339852572775 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -730.2753703813526, + 132.51744302477695, + -4.0222339852572775 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -726.8706622314453, + 130.96456672668458, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_23-8-5_1029621931/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_23-8-5_1029621931/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2bdb76c9b94e38fc65cf0c1cd407a4f51d8079ba --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_23-8-5_1029621931/pose.jsonl @@ -0,0 +1,404 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -261.04748318756594, + -343.8476272485601, + -1.828024209603854 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -263.64555939891926, + -345.3476272485601, + -1.828024209603854 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -266.2436356102726, + -346.8476272485601, + -1.828024209603854 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -268.8417118216259, + -348.3476272485601, + -1.828024209603854 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -271.4397880329792, + -349.8476272485601, + -1.828024209603854 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -274.0378642443325, + -351.3476272485601, + -1.828024209603854 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -276.63594045568584, + -352.8476272485601, + -1.828024209603854 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -279.23401666703916, + -354.3476272485601, + -1.828024209603854 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -281.8320928783925, + -355.8476272485601, + -1.828024209603854 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -284.4301690897458, + -357.3476272485601, + -1.828024209603854 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -287.0282453010991, + -358.8476272485601, + -1.828024209603854 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -289.6263215124524, + -360.3476272485601, + -1.828024209603854 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -292.22439772380574, + -361.8476272485601, + -1.828024209603854 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -294.82247393515905, + -363.3476272485601, + -1.828024209603854 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -297.42055014651237, + -364.8476272485601, + -1.828024209603854 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -297.42055014651237, + -364.8476272485601, + -1.828024209603854 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -298.92055014651237, + -367.44570345991343, + -1.828024209603854 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -300.42055014651237, + -370.04377967126675, + -1.828024209603854 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -301.92055014651237, + -372.64185588262006, + -1.828024209603854 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -303.42055014651237, + -375.2399320939734, + -1.828024209603854 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -304.92055014651237, + -377.8380083053267, + -1.828024209603854 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -306.42055014651237, + -380.43608451668, + -1.828024209603854 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -307.92055014651237, + -383.0341607280333, + -1.828024209603854 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -309.42055014651237, + -385.63223693938664, + -1.828024209603854 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -310.92055014651237, + -388.23031315073996, + -1.828024209603854 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -312.42055014651237, + -390.8283893620933, + -1.828024209603854 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -313.92055014651237, + -393.4264655734466, + -1.828024209603854 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -315.42055014651237, + -396.0245417847999, + -1.828024209603854 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -316.92055014651237, + -398.6226179961532, + -1.828024209603854 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -318.42055014651237, + -401.22069420750654, + -1.828024209603854 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -319.6267106628418, + -403.69195602416994, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-13-43_936621968/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-13-43_936621968/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3c9861c1e08ca3d8701282fe99f8c627df8aa953 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-13-43_936621968/pose.jsonl @@ -0,0 +1,417 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -702.0348128477427, + 15.203262443454982, + 1.9622650036628713 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -699.0348128477427, + 15.203262443454982, + 1.9622650036628713 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -696.0348128477427, + 15.203262443454982, + 1.9622650036628713 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -693.0348128477427, + 15.203262443454982, + 1.9622650036628713 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -690.0348128477427, + 15.203262443454982, + 1.9622650036628713 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -687.0348128477427, + 15.203262443454982, + 1.9622650036628713 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -684.0348128477427, + 15.203262443454982, + 1.9622650036628713 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -684.0348128477427, + 15.203262443454982, + 1.9622650036628713 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -684.0348128477427, + 15.203262443454982, + 1.9622650036628713 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -682.5348128477427, + 17.801338654808298, + 1.9622650036628713 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -681.0348128477427, + 20.399414866161614, + 1.9622650036628713 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -679.5348128477427, + 22.99749107751493, + 1.9622650036628713 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -679.5348128477427, + 22.99749107751493, + 1.9622650036628713 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -676.9367366363895, + 24.49749107751493, + 1.9622650036628713 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -674.3386604250361, + 25.99749107751493, + 1.9622650036628713 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -671.7405842136827, + 27.49749107751493, + 1.9622650036628713 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -669.1425080023294, + 28.99749107751493, + 1.9622650036628713 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -666.544431790976, + 30.49749107751493, + 1.9622650036628713 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -663.9463555796226, + 31.99749107751493, + 1.9622650036628713 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -661.3482793682692, + 33.49749107751493, + 1.9622650036628713 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -658.7502031569159, + 34.99749107751493, + 1.9622650036628713 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -656.1521269455625, + 36.49749107751493, + 1.9622650036628713 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -653.5540507342091, + 37.99749107751493, + 1.9622650036628713 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -650.9559745228557, + 39.49749107751493, + 1.9622650036628713 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -648.3578983115024, + 40.99749107751493, + 1.9622650036628713 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -645.759822100149, + 42.49749107751493, + 1.9622650036628713 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -643.1617458887956, + 43.99749107751493, + 1.9622650036628713 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -640.5636696774422, + 45.49749107751493, + 1.9622650036628713 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -637.9655934660889, + 46.99749107751493, + 1.9622650036628713 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -635.3675172547355, + 48.49749107751493, + 1.9622650036628713 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -632.7694410433821, + 49.99749107751493, + 1.9622650036628713 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -629.9300636291504, + 48.19314208984375, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-13-59_1312313043/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-13-59_1312313043/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..59dbd6719e14ac8f0d7cfa931421936b5c102d76 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-13-59_1312313043/pose.jsonl @@ -0,0 +1,443 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 226.71547119208438, + 597.0054756777815, + -4.178796219271473 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 226.71547119208438, + 600.0054756777815, + -4.178796219271473 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 226.71547119208438, + 603.0054756777815, + -4.178796219271473 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 226.71547119208438, + 606.0054756777815, + -4.178796219271473 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 226.71547119208438, + 609.0054756777815, + -4.178796219271473 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 226.71547119208438, + 612.0054756777815, + -4.178796219271473 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 226.71547119208438, + 615.0054756777815, + -4.178796219271473 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 226.71547119208438, + 618.0054756777815, + -4.178796219271473 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 226.71547119208438, + 621.0054756777815, + -4.178796219271473 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 226.71547119208438, + 624.0054756777815, + -4.178796219271473 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 226.71547119208438, + 627.0054756777815, + -4.178796219271473 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 226.71547119208438, + 630.0054756777815, + -4.178796219271473 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 226.71547119208438, + 633.0054756777815, + -4.178796219271473 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 226.71547119208438, + 636.0054756777815, + -4.178796219271473 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 226.71547119208438, + 639.0054756777815, + -4.178796219271473 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 226.71547119208438, + 642.0054756777815, + -4.178796219271473 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 226.71547119208438, + 645.0054756777815, + -4.178796219271473 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 226.71547119208438, + 648.0054756777815, + -4.178796219271473 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 226.71547119208438, + 651.0054756777815, + -4.178796219271473 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 226.71547119208438, + 654.0054756777815, + -4.178796219271473 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 226.71547119208438, + 657.0054756777815, + -4.178796219271473 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 226.71547119208438, + 660.0054756777815, + -4.178796219271473 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 226.71547119208438, + 663.0054756777815, + -4.178796219271473 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 226.71547119208438, + 666.0054756777815, + -4.178796219271473 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 226.71547119208438, + 669.0054756777815, + -4.178796219271473 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 226.71547119208438, + 672.0054756777815, + -4.178796219271473 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 226.71547119208438, + 675.0054756777815, + -4.178796219271473 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 226.71547119208438, + 678.0054756777815, + -4.178796219271473 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 226.71547119208438, + 681.0054756777815, + -4.178796219271473 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 226.71547119208438, + 684.0054756777815, + -4.178796219271473 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 226.71547119208438, + 684.0054756777815, + -4.178796219271473 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 228.21547119208438, + 686.6035518891349, + -4.178796219271473 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 229.71547119208438, + 689.2016281004883, + -4.178796219271473 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 229.7172834777832, + 692.2608906555175, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-18-58_192433878/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-18-58_192433878/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..03d88482530cfc4054aa37bd00bcf81ff8bf2c0d --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-18-58_192433878/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -774.987638451944, + 241.35876243565892, + 0.25432100294848325 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -774.987638451944, + 238.35876243565892, + 0.25432100294848325 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -774.987638451944, + 235.35876243565892, + 0.25432100294848325 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -774.987638451944, + 232.35876243565892, + 0.25432100294848325 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -774.987638451944, + 229.35876243565892, + 0.25432100294848325 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -774.987638451944, + 226.35876243565892, + 0.25432100294848325 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -774.987638451944, + 223.35876243565892, + 0.25432100294848325 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -774.987638451944, + 220.35876243565892, + 0.25432100294848325 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -774.987638451944, + 217.35876243565892, + 0.25432100294848325 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -774.987638451944, + 214.35876243565892, + 0.25432100294848325 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -774.987638451944, + 211.35876243565892, + 0.25432100294848325 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -774.987638451944, + 208.35876243565892, + 0.25432100294848325 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -774.987638451944, + 205.35876243565892, + 0.25432100294848325 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -774.987638451944, + 202.35876243565892, + 0.25432100294848325 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -774.987638451944, + 199.35876243565892, + 0.25432100294848325 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -774.987638451944, + 196.35876243565892, + 0.25432100294848325 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -774.987638451944, + 193.35876243565892, + 0.25432100294848325 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -774.987638451944, + 190.35876243565892, + 0.25432100294848325 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -774.987638451944, + 187.35876243565892, + 0.25432100294848325 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -774.987638451944, + 184.35876243565892, + 0.25432100294848325 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -774.987638451944, + 184.35876243565892, + 0.25432100294848325 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -774.987638451944, + 184.35876243565892, + 0.25432100294848325 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -777.5857146632973, + 182.85876243565892, + 0.25432100294848325 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -780.1837908746506, + 181.35876243565892, + 0.25432100294848325 + ], + "type": "stop", + "value": 0, + "yaw": -2.617993877991485 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -779.8773458862305, + 179.3161050415039, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-2-56_353673391/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-2-56_353673391/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9bc9f5fa2f152b36b55952d1011b7ee2a5e33b42 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-2-56_353673391/pose.jsonl @@ -0,0 +1,573 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -432.55734320400126, + -296.67422089232844, + 2.4935039778251493 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -435.55734320400126, + -296.67422089232844, + 2.4935039778251493 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -438.55734320400126, + -296.67422089232844, + 2.4935039778251493 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -441.55734320400126, + -296.67422089232844, + 2.4935039778251493 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -444.55734320400126, + -296.67422089232844, + 2.4935039778251493 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -447.55734320400126, + -296.67422089232844, + 2.4935039778251493 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -450.55734320400126, + -296.67422089232844, + 2.4935039778251493 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -453.55734320400126, + -296.67422089232844, + 2.4935039778251493 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -456.55734320400126, + -296.67422089232844, + 2.4935039778251493 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -459.55734320400126, + -296.67422089232844, + 2.4935039778251493 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -462.55734320400126, + -296.67422089232844, + 2.4935039778251493 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -465.55734320400126, + -296.67422089232844, + 2.4935039778251493 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -468.55734320400126, + -296.67422089232844, + 2.4935039778251493 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -471.55734320400126, + -296.67422089232844, + 2.4935039778251493 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -474.55734320400126, + -296.67422089232844, + 2.4935039778251493 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -477.55734320400126, + -296.67422089232844, + 2.4935039778251493 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -480.55734320400126, + -296.67422089232844, + 2.4935039778251493 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -483.55734320400126, + -296.67422089232844, + 2.4935039778251493 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -486.55734320400126, + -296.67422089232844, + 2.4935039778251493 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -489.55734320400126, + -296.67422089232844, + 2.4935039778251493 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -492.55734320400126, + -296.67422089232844, + 2.4935039778251493 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -495.55734320400126, + -296.67422089232844, + 2.4935039778251493 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -498.55734320400126, + -296.67422089232844, + 2.4935039778251493 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -501.55734320400126, + -296.67422089232844, + 2.4935039778251493 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -504.55734320400126, + -296.67422089232844, + 2.4935039778251493 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -507.55734320400126, + -296.67422089232844, + 2.4935039778251493 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -510.55734320400126, + -296.67422089232844, + 2.4935039778251493 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -513.5573432040012, + -296.67422089232844, + 2.4935039778251493 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -516.5573432040012, + -296.67422089232844, + 2.4935039778251493 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -519.5573432040012, + -296.67422089232844, + 2.4935039778251493 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -522.5573432040012, + -296.67422089232844, + 2.4935039778251493 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -525.5573432040012, + -296.67422089232844, + 2.4935039778251493 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -528.5573432040012, + -296.67422089232844, + 2.4935039778251493 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -531.5573432040012, + -296.67422089232844, + 2.4935039778251493 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -534.5573432040012, + -296.67422089232844, + 2.4935039778251493 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -537.5573432040012, + -296.67422089232844, + 2.4935039778251493 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -537.5573432040012, + -296.67422089232844, + 2.4935039778251493 + ], + "type": "turn left", + "value": 30, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -537.5573432040012, + -296.67422089232844, + 2.4935039778251493 + ], + "type": "go straight", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -539.0573432040012, + -299.27229710368175, + 2.4935039778251493 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -540.5573432040012, + -301.87037331503507, + 2.4935039778251493 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -542.0573432040012, + -304.4684495263884, + 2.4935039778251493 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -543.5573432040012, + -307.0665257377417, + 2.4935039778251493 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -545.0573432040012, + -309.664601949095, + 2.4935039778251493 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -545.8660174560547, + -312.8632476806641, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-20-37_1456139563/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-20-37_1456139563/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7b9d28e942294852bd4de3a595114aae45c27b44 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-20-37_1456139563/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -221.5354935040459, + -72.7757750218081, + 3.5543612215353235 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -218.5354935040459, + -72.7757750218081, + 3.5543612215353235 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -215.5354935040459, + -72.7757750218081, + 3.5543612215353235 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -212.5354935040459, + -72.7757750218081, + 3.5543612215353235 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -209.5354935040459, + -72.7757750218081, + 3.5543612215353235 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -206.5354935040459, + -72.7757750218081, + 3.5543612215353235 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -203.5354935040459, + -72.7757750218081, + 3.5543612215353235 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -200.5354935040459, + -72.7757750218081, + 3.5543612215353235 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -197.5354935040459, + -72.7757750218081, + 3.5543612215353235 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -194.5354935040459, + -72.7757750218081, + 3.5543612215353235 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -191.5354935040459, + -72.7757750218081, + 3.5543612215353235 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -188.5354935040459, + -72.7757750218081, + 3.5543612215353235 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -185.5354935040459, + -72.7757750218081, + 3.5543612215353235 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -182.5354935040459, + -72.7757750218081, + 3.5543612215353235 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -179.5354935040459, + -72.7757750218081, + 3.5543612215353235 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -176.5354935040459, + -72.7757750218081, + 3.5543612215353235 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -176.5354935040459, + -72.7757750218081, + 3.5543612215353235 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -173.93741729269257, + -71.2757750218081, + 3.5543612215353235 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -171.33934108133926, + -69.7757750218081, + 3.5543612215353235 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -168.74126486998594, + -68.2757750218081, + 3.5543612215353235 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -166.14318865863262, + -66.7757750218081, + 3.5543612215353235 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -163.5451124472793, + -65.2757750218081, + 3.5543612215353235 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -163.5451124472793, + -65.2757750218081, + 3.5543612215353235 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -160.5451124472793, + -65.2757750218081, + 3.5543612215353235 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -157.5451124472793, + -65.2757750218081, + 3.5543612215353235 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -156.47577671051025, + -64.65314291000367, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-26-30_1318141009/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-26-30_1318141009/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b3eef1c8445aba7c696db17bd74e123d329d2197 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-26-30_1318141009/pose.jsonl @@ -0,0 +1,508 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -407.03174649040614, + -78.53829366220543, + 1.7990841566567255 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -404.03174649040614, + -78.53829366220543, + 1.7990841566567255 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -401.03174649040614, + -78.53829366220543, + 1.7990841566567255 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -398.03174649040614, + -78.53829366220543, + 1.7990841566567255 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -395.03174649040614, + -78.53829366220543, + 1.7990841566567255 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -395.03174649040614, + -78.53829366220543, + 1.7990841566567255 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -392.4336702790528, + -80.03829366220543, + 1.7990841566567255 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -392.4336702790528, + -80.03829366220543, + 1.7990841566567255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -390.9336702790528, + -82.63636987355875, + 1.7990841566567255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -389.4336702790528, + -85.23444608491207, + 1.7990841566567255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -387.9336702790528, + -87.83252229626538, + 1.7990841566567255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -386.4336702790528, + -90.4305985076187, + 1.7990841566567255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -384.9336702790528, + -93.02867471897201, + 1.7990841566567255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -383.4336702790528, + -95.62675093032533, + 1.7990841566567255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -381.9336702790528, + -98.22482714167865, + 1.7990841566567255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -380.4336702790528, + -100.82290335303196, + 1.7990841566567255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -378.9336702790528, + -103.42097956438528, + 1.7990841566567255 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -378.9336702790528, + -103.42097956438528, + 1.7990841566567255 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -376.3355940676995, + -104.92097956438528, + 1.7990841566567255 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -373.7375178563462, + -106.42097956438528, + 1.7990841566567255 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -371.13944164499287, + -107.92097956438528, + 1.7990841566567255 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -368.54136543363956, + -109.42097956438528, + 1.7990841566567255 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -365.94328922228624, + -110.92097956438528, + 1.7990841566567255 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -363.3452130109329, + -112.42097956438528, + 1.7990841566567255 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -360.7471367995796, + -113.92097956438528, + 1.7990841566567255 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -358.1490605882263, + -115.42097956438528, + 1.7990841566567255 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -355.550984376873, + -116.92097956438528, + 1.7990841566567255 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -352.95290816551966, + -118.42097956438528, + 1.7990841566567255 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -350.35483195416634, + -119.92097956438528, + 1.7990841566567255 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -347.756755742813, + -121.42097956438528, + 1.7990841566567255 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -345.1586795314597, + -122.92097956438528, + 1.7990841566567255 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -342.5606033201064, + -124.42097956438528, + 1.7990841566567255 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -339.9625271087531, + -125.92097956438528, + 1.7990841566567255 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -337.36445089739976, + -127.42097956438528, + 1.7990841566567255 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -334.76637468604645, + -128.92097956438528, + 1.7990841566567255 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -332.16829847469313, + -130.42097956438528, + 1.7990841566567255 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -329.5702222633398, + -131.92097956438528, + 1.7990841566567255 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -326.9721460519865, + -133.42097956438528, + 1.7990841566567255 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -323.98753799438475, + -133.34803604125977, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-27-44_1815754673/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-27-44_1815754673/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d828d0bb809a5e473511077c4864b651fdac41a5 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-27-44_1815754673/pose.jsonl @@ -0,0 +1,547 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -826.4253393333056, + 244.0698506212177, + -3.8042108432375743 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -823.4253393333056, + 244.0698506212177, + -3.8042108432375743 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -820.4253393333056, + 244.0698506212177, + -3.8042108432375743 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -817.4253393333056, + 244.0698506212177, + -3.8042108432375743 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -814.4253393333056, + 244.0698506212177, + -3.8042108432375743 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -811.4253393333056, + 244.0698506212177, + -3.8042108432375743 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -808.4253393333056, + 244.0698506212177, + -3.8042108432375743 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -805.4253393333056, + 244.0698506212177, + -3.8042108432375743 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -802.4253393333056, + 244.0698506212177, + -3.8042108432375743 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -799.4253393333056, + 244.0698506212177, + -3.8042108432375743 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -796.4253393333056, + 244.0698506212177, + -3.8042108432375743 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -793.4253393333056, + 244.0698506212177, + -3.8042108432375743 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -790.4253393333056, + 244.0698506212177, + -3.8042108432375743 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -787.4253393333056, + 244.0698506212177, + -3.8042108432375743 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -784.4253393333056, + 244.0698506212177, + -3.8042108432375743 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -781.4253393333056, + 244.0698506212177, + -3.8042108432375743 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -778.4253393333056, + 244.0698506212177, + -3.8042108432375743 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -775.4253393333056, + 244.0698506212177, + -3.8042108432375743 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -772.4253393333056, + 244.0698506212177, + -3.8042108432375743 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -769.4253393333056, + 244.0698506212177, + -3.8042108432375743 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -766.4253393333056, + 244.0698506212177, + -3.8042108432375743 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -763.4253393333056, + 244.0698506212177, + -3.8042108432375743 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -760.4253393333056, + 244.0698506212177, + -3.8042108432375743 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -757.4253393333056, + 244.0698506212177, + -3.8042108432375743 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -754.4253393333056, + 244.0698506212177, + -3.8042108432375743 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -751.4253393333056, + 244.0698506212177, + -3.8042108432375743 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -748.4253393333056, + 244.0698506212177, + -3.8042108432375743 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -745.4253393333056, + 244.0698506212177, + -3.8042108432375743 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -745.4253393333056, + 244.0698506212177, + -3.8042108432375743 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -745.4253393333056, + 244.0698506212177, + -3.8042108432375743 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -743.9253393333056, + 241.4717744098644, + -3.8042108432375743 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -742.4253393333056, + 238.87369819851108, + -3.8042108432375743 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -740.9253393333056, + 236.27562198715776, + -3.8042108432375743 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -740.9253393333056, + 236.27562198715776, + -3.8042108432375743 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -738.3272631219522, + 234.77562198715776, + -3.8042108432375743 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -735.7291869105989, + 233.27562198715776, + -3.8042108432375743 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -733.1311106992455, + 231.77562198715776, + -3.8042108432375743 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -730.5330344878921, + 230.27562198715776, + -3.8042108432375743 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -727.9349582765387, + 228.77562198715776, + -3.8042108432375743 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -725.3368820651854, + 227.27562198715776, + -3.8042108432375743 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -722.738805853832, + 225.77562198715776, + -3.8042108432375743 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -719.2420056152343, + 225.9435828399658, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-3-54_217852623/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-3-54_217852623/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0217a5f1ddc6159bc40dcfe73faf16c327917a71 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-3-54_217852623/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 420.08004354817626, + 27.46626569889753, + -4.2046455106007095 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 417.08004354817626, + 27.46626569889753, + -4.2046455106007095 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 414.08004354817626, + 27.46626569889753, + -4.2046455106007095 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 411.08004354817626, + 27.46626569889753, + -4.2046455106007095 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 408.08004354817626, + 27.46626569889753, + -4.2046455106007095 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 405.08004354817626, + 27.46626569889753, + -4.2046455106007095 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 402.08004354817626, + 27.46626569889753, + -4.2046455106007095 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 399.08004354817626, + 27.46626569889753, + -4.2046455106007095 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 396.08004354817626, + 27.46626569889753, + -4.2046455106007095 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 393.08004354817626, + 27.46626569889753, + -4.2046455106007095 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 390.08004354817626, + 27.46626569889753, + -4.2046455106007095 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 387.08004354817626, + 27.46626569889753, + -4.2046455106007095 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 384.08004354817626, + 27.46626569889753, + -4.2046455106007095 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 381.08004354817626, + 27.46626569889753, + -4.2046455106007095 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 378.08004354817626, + 27.46626569889753, + -4.2046455106007095 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 375.08004354817626, + 27.46626569889753, + -4.2046455106007095 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 372.08004354817626, + 27.46626569889753, + -4.2046455106007095 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 369.08004354817626, + 27.46626569889753, + -4.2046455106007095 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 366.08004354817626, + 27.46626569889753, + -4.2046455106007095 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 363.08004354817626, + 27.46626569889753, + -4.2046455106007095 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 360.08004354817626, + 27.46626569889753, + -4.2046455106007095 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 357.08004354817626, + 27.46626569889753, + -4.2046455106007095 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 354.08004354817626, + 27.46626569889753, + -4.2046455106007095 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 354.08004354817626, + 27.46626569889753, + -4.2046455106007095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 351.48196733682295, + 28.96626569889753, + -4.2046455106007095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 348.88389112546963, + 30.46626569889753, + -4.2046455106007095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 346.2858149141163, + 31.96626569889753, + -4.2046455106007095 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 344.9839593505859, + 35.070869789123535, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-34-33_1064651899/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-34-33_1064651899/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9e41ef4fa9bd49393e7cd3ffe68d9333b159f859 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-34-33_1064651899/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -334.5736651373126, + 64.09171104393593, + -3.919439908383956 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -337.17174134866593, + 62.59171104393593, + -3.919439908383956 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -339.76981756001925, + 61.09171104393593, + -3.919439908383956 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -342.36789377137256, + 59.59171104393593, + -3.919439908383956 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -344.9659699827259, + 58.09171104393593, + -3.919439908383956 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -347.5640461940792, + 56.59171104393593, + -3.919439908383956 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -350.1621224054325, + 55.09171104393593, + -3.919439908383956 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -352.76019861678583, + 53.59171104393593, + -3.919439908383956 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -355.35827482813914, + 52.09171104393593, + -3.919439908383956 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -357.95635103949246, + 50.59171104393593, + -3.919439908383956 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -360.5544272508458, + 49.09171104393593, + -3.919439908383956 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -363.1525034621991, + 47.59171104393593, + -3.919439908383956 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -365.7505796735524, + 46.09171104393593, + -3.919439908383956 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -368.3486558849057, + 44.59171104393593, + -3.919439908383956 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -368.3486558849057, + 44.59171104393593, + -3.919439908383956 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -371.3486558849057, + 44.59171104393593, + -3.919439908383956 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -374.3486558849057, + 44.59171104393593, + -3.919439908383956 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -377.3486558849057, + 44.59171104393593, + -3.919439908383956 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -380.3486558849057, + 44.59171104393593, + -3.919439908383956 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -383.3486558849057, + 44.59171104393593, + -3.919439908383956 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -386.3486558849057, + 44.59171104393593, + -3.919439908383956 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -389.3486558849057, + 44.59171104393593, + -3.919439908383956 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -392.3486558849057, + 44.59171104393593, + -3.919439908383956 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -395.3486558849057, + 44.59171104393593, + -3.919439908383956 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -398.3486558849057, + 44.59171104393593, + -3.919439908383956 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -431.4943495178223, + 32.88219102859497, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-36-9_612816071/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-36-9_612816071/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..049738ffddec7f3df9c0e663e13ca551d4168c7a --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-36-9_612816071/pose.jsonl @@ -0,0 +1,443 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -976.5115817165665, + 427.1738697618738, + -2.012706149375862 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -973.5115817165665, + 427.1738697618738, + -2.012706149375862 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -970.5115817165665, + 427.1738697618738, + -2.012706149375862 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -967.5115817165665, + 427.1738697618738, + -2.012706149375862 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -964.5115817165665, + 427.1738697618738, + -2.012706149375862 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -961.5115817165665, + 427.1738697618738, + -2.012706149375862 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -958.5115817165665, + 427.1738697618738, + -2.012706149375862 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -955.5115817165665, + 427.1738697618738, + -2.012706149375862 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -952.5115817165665, + 427.1738697618738, + -2.012706149375862 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -949.5115817165665, + 427.1738697618738, + -2.012706149375862 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -946.5115817165665, + 427.1738697618738, + -2.012706149375862 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -943.5115817165665, + 427.1738697618738, + -2.012706149375862 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -940.5115817165665, + 427.1738697618738, + -2.012706149375862 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -937.5115817165665, + 427.1738697618738, + -2.012706149375862 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -934.5115817165665, + 427.1738697618738, + -2.012706149375862 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -931.5115817165665, + 427.1738697618738, + -2.012706149375862 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -928.5115817165665, + 427.1738697618738, + -2.012706149375862 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -925.5115817165665, + 427.1738697618738, + -2.012706149375862 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -922.5115817165665, + 427.1738697618738, + -2.012706149375862 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -919.5115817165665, + 427.1738697618738, + -2.012706149375862 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -916.5115817165665, + 427.1738697618738, + -2.012706149375862 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -913.5115817165665, + 427.1738697618738, + -2.012706149375862 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -910.5115817165665, + 427.1738697618738, + -2.012706149375862 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -907.5115817165665, + 427.1738697618738, + -2.012706149375862 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -904.5115817165665, + 427.1738697618738, + -2.012706149375862 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -901.5115817165665, + 427.1738697618738, + -2.012706149375862 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -898.5115817165665, + 427.1738697618738, + -2.012706149375862 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -898.5115817165665, + 427.1738697618738, + -2.012706149375862 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -895.9135055052132, + 425.6738697618738, + -2.012706149375862 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -893.3154292938598, + 424.1738697618738, + -2.012706149375862 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -890.7173530825064, + 422.6738697618738, + -2.012706149375862 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -888.119276871153, + 421.1738697618738, + -2.012706149375862 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -885.5212006597997, + 419.6738697618738, + -2.012706149375862 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -884.2225183105469, + 417.81855880737305, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-40-18_278190158/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-40-18_278190158/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ac57329c7c870b2b56f7d4e340a7839b3b5bc5f6 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-40-18_278190158/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -963.5281760245008, + 275.3675135562456, + 3.0196773162549277 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -962.0281760245008, + 277.96558976759894, + 3.0196773162549277 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -960.5281760245008, + 280.56366597895226, + 3.0196773162549277 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -959.0281760245008, + 283.1617421903056, + 3.0196773162549277 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -957.5281760245008, + 285.7598184016589, + 3.0196773162549277 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -956.0281760245008, + 288.3578946130122, + 3.0196773162549277 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -954.5281760245008, + 290.9559708243655, + 3.0196773162549277 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -953.0281760245008, + 293.55404703571884, + 3.0196773162549277 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -951.5281760245008, + 296.15212324707215, + 3.0196773162549277 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -950.0281760245008, + 298.75019945842547, + 3.0196773162549277 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -948.5281760245008, + 301.3482756697788, + 3.0196773162549277 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -947.0281760245008, + 303.9463518811321, + 3.0196773162549277 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -945.5281760245008, + 306.5444280924854, + 3.0196773162549277 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -945.5281760245008, + 306.5444280924854, + 3.0196773162549277 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -945.5281760245008, + 309.5444280924854, + 3.0196773162549277 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -945.5281760245008, + 312.5444280924854, + 3.0196773162549277 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -945.5281760245008, + 315.5444280924854, + 3.0196773162549277 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -945.5281760245008, + 318.5444280924854, + 3.0196773162549277 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -945.5281760245008, + 321.5444280924854, + 3.0196773162549277 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -945.5281760245008, + 324.5444280924854, + 3.0196773162549277 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -945.5281760245008, + 327.5444280924854, + 3.0196773162549277 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -945.5281760245008, + 330.5444280924854, + 3.0196773162549277 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -945.5281760245008, + 330.5444280924854, + 3.0196773162549277 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -944.0281760245008, + 333.14250430383873, + 3.0196773162549277 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -942.5730328369141, + 336.42247901916505, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-41-48_1483332973/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-41-48_1483332973/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..94e48e64b2864743cbb96a512a544d2e7545354c --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-41-48_1483332973/pose.jsonl @@ -0,0 +1,560 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -115.9083797239045, + 681.4968319655165, + -3.734817988465691 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -118.50645593525782, + 679.9968319655165, + -3.734817988465691 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -118.50645593525782, + 679.9968319655165, + -3.734817988465691 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -120.00645593525782, + 677.3987557541632, + -3.734817988465691 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -120.00645593525782, + 677.3987557541632, + -3.734817988465691 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -122.60453214661113, + 675.8987557541632, + -3.734817988465691 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -125.20260835796445, + 674.3987557541632, + -3.734817988465691 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -127.80068456931777, + 672.8987557541632, + -3.734817988465691 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -130.39876078067107, + 671.3987557541632, + -3.734817988465691 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991492 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -132.99683699202438, + 669.8987557541632, + -3.734817988465691 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -135.5949132033777, + 668.3987557541632, + -3.734817988465691 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -138.19298941473102, + 666.8987557541632, + -3.734817988465691 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -140.79106562608433, + 665.3987557541632, + -3.734817988465691 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -143.38914183743765, + 663.8987557541632, + -3.734817988465691 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -143.38914183743765, + 663.8987557541632, + -3.734817988465691 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -146.38914183743765, + 663.8987557541632, + -3.734817988465691 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -149.38914183743765, + 663.8987557541632, + -3.734817988465691 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -152.38914183743765, + 663.8987557541632, + -3.734817988465691 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -155.38914183743765, + 663.8987557541632, + -3.734817988465691 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -158.38914183743765, + 663.8987557541632, + -3.734817988465691 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -161.38914183743765, + 663.8987557541632, + -3.734817988465691 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -164.38914183743765, + 663.8987557541632, + -3.734817988465691 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -167.38914183743765, + 663.8987557541632, + -3.734817988465691 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -170.38914183743765, + 663.8987557541632, + -3.734817988465691 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -173.38914183743765, + 663.8987557541632, + -3.734817988465691 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -176.38914183743765, + 663.8987557541632, + -3.734817988465691 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -179.38914183743765, + 663.8987557541632, + -3.734817988465691 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -182.38914183743765, + 663.8987557541632, + -3.734817988465691 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -185.38914183743765, + 663.8987557541632, + -3.734817988465691 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -188.38914183743765, + 663.8987557541632, + -3.734817988465691 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -191.38914183743765, + 663.8987557541632, + -3.734817988465691 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -194.38914183743765, + 663.8987557541632, + -3.734817988465691 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -197.38914183743765, + 663.8987557541632, + -3.734817988465691 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -200.38914183743765, + 663.8987557541632, + -3.734817988465691 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -203.38914183743765, + 663.8987557541632, + -3.734817988465691 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -206.38914183743765, + 663.8987557541632, + -3.734817988465691 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -209.38914183743765, + 663.8987557541632, + -3.734817988465691 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -212.38914183743765, + 663.8987557541632, + -3.734817988465691 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -215.38914183743765, + 663.8987557541632, + -3.734817988465691 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -218.38914183743765, + 663.8987557541632, + -3.734817988465691 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -221.38914183743765, + 663.8987557541632, + -3.734817988465691 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -224.38914183743765, + 663.8987557541632, + -3.734817988465691 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -227.7933927154541, + 663.3823291015625, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-45-44_95266356/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-45-44_95266356/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3e981d6e6e00c4a836ab011a057491f21c231325 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-45-44_95266356/pose.jsonl @@ -0,0 +1,352 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 391.29057739318256, + 512.5003049075634, + 1.0352468500198846 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 392.79057739318256, + 515.0983811189167, + 1.0352468500198846 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 394.29057739318256, + 517.69645733027, + 1.0352468500198846 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 395.79057739318256, + 520.2945335416234, + 1.0352468500198846 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 397.29057739318256, + 522.8926097529768, + 1.0352468500198846 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 398.79057739318256, + 525.4906859643302, + 1.0352468500198846 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 400.29057739318256, + 528.0887621756835, + 1.0352468500198846 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 401.79057739318256, + 530.6868383870369, + 1.0352468500198846 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 403.29057739318256, + 533.2849145983903, + 1.0352468500198846 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 404.79057739318256, + 535.8829908097437, + 1.0352468500198846 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 406.29057739318256, + 538.481067021097, + 1.0352468500198846 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 407.79057739318256, + 541.0791432324504, + 1.0352468500198846 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 409.29057739318256, + 543.6772194438038, + 1.0352468500198846 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 410.79057739318256, + 546.2752956551572, + 1.0352468500198846 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 412.29057739318256, + 548.8733718665105, + 1.0352468500198846 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 412.29057739318256, + 548.8733718665105, + 1.0352468500198846 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 414.8886536045359, + 550.3733718665105, + 1.0352468500198846 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 417.4867298158892, + 551.8733718665105, + 1.0352468500198846 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 420.0848060272425, + 553.3733718665105, + 1.0352468500198846 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 422.6828822385958, + 554.8733718665105, + 1.0352468500198846 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 425.28095844994914, + 556.3733718665105, + 1.0352468500198846 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 427.87903466130246, + 557.8733718665105, + 1.0352468500198846 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 430.47711087265577, + 559.3733718665105, + 1.0352468500198846 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 433.0751870840091, + 560.8733718665105, + 1.0352468500198846 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 435.6732632953624, + 562.3733718665105, + 1.0352468500198846 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 438.2713395067157, + 563.8733718665105, + 1.0352468500198846 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 439.84950744628907, + 563.3985629272461, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-46-14_1189914410/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-46-14_1189914410/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..31800d8cc5ca8157fffd762ef8a0c548624fb8b5 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-46-14_1189914410/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -952.6278763655029, + 337.7495904106228, + -2.9640414263037704 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -954.1278763655029, + 335.15151419926946, + -2.9640414263037704 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -955.6278763655029, + 332.55343798791614, + -2.9640414263037704 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -957.1278763655029, + 329.9553617765628, + -2.9640414263037704 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -958.6278763655029, + 327.3572855652095, + -2.9640414263037704 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -960.1278763655029, + 324.7592093538562, + -2.9640414263037704 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -961.6278763655029, + 322.1611331425029, + -2.9640414263037704 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -963.1278763655029, + 319.56305693114956, + -2.9640414263037704 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -964.6278763655029, + 316.96498071979624, + -2.9640414263037704 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -966.1278763655029, + 314.36690450844293, + -2.9640414263037704 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -967.6278763655029, + 311.7688282970896, + -2.9640414263037704 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -969.1278763655029, + 309.1707520857363, + -2.9640414263037704 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -970.6278763655029, + 306.572675874383, + -2.9640414263037704 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -972.1278763655029, + 303.97459966302966, + -2.9640414263037704 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -973.6278763655029, + 301.37652345167635, + -2.9640414263037704 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -975.1278763655029, + 298.77844724032303, + -2.9640414263037704 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -976.6278763655029, + 296.1803710289697, + -2.9640414263037704 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -978.1278763655029, + 293.5822948176164, + -2.9640414263037704 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -978.1278763655029, + 293.5822948176164, + -2.9640414263037704 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -980.7259525768561, + 292.0822948176164, + -2.9640414263037704 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -983.3240287882095, + 290.5822948176164, + -2.9640414263037704 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -985.9221049995629, + 289.0822948176164, + -2.9640414263037704 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -988.5201812109162, + 287.5822948176164, + -2.9640414263037704 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -991.1182574222696, + 286.0822948176164, + -2.9640414263037704 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -993.716333633623, + 284.5822948176164, + -2.9640414263037704 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -996.3144098449764, + 283.0822948176164, + -2.9640414263037704 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -998.9124860563297, + 281.5822948176164, + -2.9640414263037704 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1002.9734149169922, + 277.3824105834961, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-47-44_37623446/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-47-44_37623446/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..33612b15fc92a8ecac41975422c584a3f5bd1a7a --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-47-44_37623446/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -919.8029861974854, + 278.59301651816327, + -3.324585848781645 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -922.4010624088387, + 277.09301651816327, + -3.324585848781645 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -924.9991386201921, + 275.59301651816327, + -3.324585848781645 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -927.5972148315454, + 274.09301651816327, + -3.324585848781645 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -930.1952910428988, + 272.59301651816327, + -3.324585848781645 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -932.7933672542522, + 271.09301651816327, + -3.324585848781645 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -935.3914434656056, + 269.59301651816327, + -3.324585848781645 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -937.9895196769589, + 268.09301651816327, + -3.324585848781645 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -940.5875958883123, + 266.59301651816327, + -3.324585848781645 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -943.1856720996657, + 265.09301651816327, + -3.324585848781645 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -945.783748311019, + 263.59301651816327, + -3.324585848781645 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -948.3818245223724, + 262.09301651816327, + -3.324585848781645 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -950.9799007337258, + 260.59301651816327, + -3.324585848781645 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -953.5779769450792, + 259.09301651816327, + -3.324585848781645 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -956.1760531564325, + 257.59301651816327, + -3.324585848781645 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -958.7741293677859, + 256.09301651816327, + -3.324585848781645 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -961.3722055791393, + 254.59301651816327, + -3.324585848781645 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -963.9702817904927, + 253.09301651816327, + -3.324585848781645 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -966.568358001846, + 251.59301651816327, + -3.324585848781645 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -969.1664342131994, + 250.09301651816327, + -3.324585848781645 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -971.7645104245528, + 248.59301651816327, + -3.324585848781645 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -971.7645104245528, + 248.59301651816327, + -3.324585848781645 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -973.2645104245528, + 245.99494030680995, + -3.324585848781645 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -974.7645104245528, + 243.39686409545664, + -3.324585848781645 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -976.2645104245528, + 240.79878788410332, + -3.324585848781645 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -978.6087219238281, + 239.76509559631347, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-53-18_2059643461/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-53-18_2059643461/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..495fb4c1ac9b2b454ee7a7dbacd4c89cf916c217 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-53-18_2059643461/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -337.4693424082722, + -207.57067072336304, + 3.4358830049355724 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -337.4693424082722, + -204.57067072336304, + 3.4358830049355724 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -337.4693424082722, + -201.57067072336304, + 3.4358830049355724 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -337.4693424082722, + -198.57067072336304, + 3.4358830049355724 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -337.4693424082722, + -195.57067072336304, + 3.4358830049355724 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -337.4693424082722, + -192.57067072336304, + 3.4358830049355724 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -337.4693424082722, + -189.57067072336304, + 3.4358830049355724 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -337.4693424082722, + -186.57067072336304, + 3.4358830049355724 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -337.4693424082722, + -183.57067072336304, + 3.4358830049355724 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -337.4693424082722, + -180.57067072336304, + 3.4358830049355724 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -337.4693424082722, + -177.57067072336304, + 3.4358830049355724 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -337.4693424082722, + -174.57067072336304, + 3.4358830049355724 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -337.4693424082722, + -171.57067072336304, + 3.4358830049355724 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -337.4693424082722, + -168.57067072336304, + 3.4358830049355724 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -337.4693424082722, + -165.57067072336304, + 3.4358830049355724 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -337.4693424082722, + -162.57067072336304, + 3.4358830049355724 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -337.4693424082722, + -162.57067072336304, + 3.4358830049355724 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -335.9693424082722, + -159.97259451200972, + 3.4358830049355724 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -334.4693424082722, + -157.3745183006564, + 3.4358830049355724 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -332.9693424082722, + -154.7764420893031, + 3.4358830049355724 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -331.4693424082722, + -152.17836587794977, + 3.4358830049355724 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -329.9693424082722, + -149.58028966659646, + 3.4358830049355724 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -328.4693424082722, + -146.98221345524314, + 3.4358830049355724 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -326.9693424082722, + -144.38413724388982, + 3.4358830049355724 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -325.4693424082722, + -141.7860610325365, + 3.4358830049355724 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -323.9693424082722, + -139.1879848211832, + 3.4358830049355724 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -322.4693424082722, + -136.58990860982988, + 3.4358830049355724 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -323.98753799438475, + -133.34803604125977, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-56-35_1219377470/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-56-35_1219377470/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..515dd7fe0f83bda831dd08f713bda793d15c31d6 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-56-35_1219377470/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -998.2046986306673, + 168.40579515510484, + 0.8288531980865912 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -996.7046986306673, + 171.00387136645816, + 0.8288531980865912 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -995.2046986306673, + 173.60194757781147, + 0.8288531980865912 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -993.7046986306673, + 176.2000237891648, + 0.8288531980865912 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -992.2046986306673, + 178.7981000005181, + 0.8288531980865912 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -990.7046986306673, + 181.39617621187142, + 0.8288531980865912 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -989.2046986306673, + 183.99425242322474, + 0.8288531980865912 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -987.7046986306673, + 186.59232863457805, + 0.8288531980865912 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -986.2046986306673, + 189.19040484593137, + 0.8288531980865912 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -984.7046986306673, + 191.78848105728468, + 0.8288531980865912 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -983.2046986306673, + 194.386557268638, + 0.8288531980865912 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -981.7046986306673, + 196.98463347999132, + 0.8288531980865912 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -980.2046986306673, + 199.58270969134463, + 0.8288531980865912 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -980.2046986306673, + 199.58270969134463, + 0.8288531980865912 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -980.2046986306673, + 202.58270969134463, + 0.8288531980865912 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -980.2046986306673, + 205.58270969134463, + 0.8288531980865912 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -980.2046986306673, + 208.58270969134463, + 0.8288531980865912 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -980.2046986306673, + 211.58270969134463, + 0.8288531980865912 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -980.2046986306673, + 214.58270969134463, + 0.8288531980865912 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -980.2046986306673, + 217.58270969134463, + 0.8288531980865912 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -980.2046986306673, + 220.58270969134463, + 0.8288531980865912 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -980.2046986306673, + 223.58270969134463, + 0.8288531980865912 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -980.2046986306673, + 226.58270969134463, + 0.8288531980865912 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -980.2046986306673, + 229.58270969134463, + 0.8288531980865912 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -980.2046986306673, + 232.58270969134463, + 0.8288531980865912 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -980.2046986306673, + 235.58270969134463, + 0.8288531980865912 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -980.2046986306673, + 238.58270969134463, + 0.8288531980865912 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -978.6087219238281, + 239.76509559631347, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-10-27_1304438548/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-10-27_1304438548/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3ea40c41f26fea6369769e2ac69db35974eba01c --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-10-27_1304438548/pose.jsonl @@ -0,0 +1,352 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -691.7980033695313, + -38.096637613913046, + -2.0954072535465587 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -693.2980033695313, + -35.49856140255973, + -2.0954072535465587 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -694.7980033695313, + -32.900485191206414, + -2.0954072535465587 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -696.2980033695313, + -30.302408979853098, + -2.0954072535465587 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -697.7980033695313, + -27.704332768499782, + -2.0954072535465587 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -699.2980033695313, + -25.106256557146466, + -2.0954072535465587 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -700.7980033695313, + -22.50818034579315, + -2.0954072535465587 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -702.2980033695313, + -19.910104134439834, + -2.0954072535465587 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -703.7980033695313, + -17.312027923086518, + -2.0954072535465587 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -705.2980033695313, + -14.713951711733202, + -2.0954072535465587 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -706.7980033695313, + -12.115875500379886, + -2.0954072535465587 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -708.2980033695313, + -9.51779928902657, + -2.0954072535465587 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -709.7980033695313, + -6.919723077673254, + -2.0954072535465587 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -711.2980033695313, + -4.321646866319938, + -2.0954072535465587 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -712.7980033695313, + -1.7235706549666219, + -2.0954072535465587 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -714.2980033695313, + 0.8745055563866941, + -2.0954072535465587 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -715.7980033695313, + 3.47258176774001, + -2.0954072535465587 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -717.2980033695313, + 6.070657979093326, + -2.0954072535465587 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -718.7980033695313, + 8.668734190446642, + -2.0954072535465587 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -720.2980033695313, + 11.266810401799958, + -2.0954072535465587 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -721.7980033695313, + 13.864886613153274, + -2.0954072535465587 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -723.2980033695313, + 16.46296282450659, + -2.0954072535465587 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -723.2980033695313, + 16.46296282450659, + -2.0954072535465587 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -725.8960795808846, + 17.96296282450659, + -2.0954072535465587 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -728.494155792238, + 19.46296282450659, + -2.0954072535465587 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -731.0922320035913, + 20.96296282450659, + -2.0954072535465587 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -731.5441055297852, + 23.07341537475586, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-11-58_995097051/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-11-58_995097051/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..af4d63f2988f9edc8ad076a65fb7b75f73cabf04 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-11-58_995097051/pose.jsonl @@ -0,0 +1,391 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -749.0212358065077, + 79.82249069621591, + 3.69684234731783 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -746.0212358065077, + 79.82249069621591, + 3.69684234731783 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -743.0212358065077, + 79.82249069621591, + 3.69684234731783 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -740.0212358065077, + 79.82249069621591, + 3.69684234731783 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -737.0212358065077, + 79.82249069621591, + 3.69684234731783 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -734.0212358065077, + 79.82249069621591, + 3.69684234731783 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -731.0212358065077, + 79.82249069621591, + 3.69684234731783 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -731.0212358065077, + 79.82249069621591, + 3.69684234731783 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -731.0212358065077, + 79.82249069621591, + 3.69684234731783 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -729.5212358065077, + 82.42056690756922, + 3.69684234731783 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -728.0212358065077, + 85.01864311892254, + 3.69684234731783 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -726.5212358065077, + 87.61671933027586, + 3.69684234731783 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -726.5212358065077, + 87.61671933027586, + 3.69684234731783 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -723.9231595951544, + 89.11671933027586, + 3.69684234731783 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -721.325083383801, + 90.61671933027586, + 3.69684234731783 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -718.7270071724477, + 92.11671933027586, + 3.69684234731783 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -716.1289309610943, + 93.61671933027586, + 3.69684234731783 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -713.5308547497409, + 95.11671933027586, + 3.69684234731783 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -710.9327785383875, + 96.61671933027586, + 3.69684234731783 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -708.3347023270342, + 98.11671933027586, + 3.69684234731783 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -705.7366261156808, + 99.61671933027586, + 3.69684234731783 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -703.1385499043274, + 101.11671933027586, + 3.69684234731783 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -700.540473692974, + 102.61671933027586, + 3.69684234731783 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -697.9423974816207, + 104.11671933027586, + 3.69684234731783 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -695.3443212702673, + 105.61671933027586, + 3.69684234731783 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -695.3443212702673, + 105.61671933027586, + 3.69684234731783 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -692.3443212702673, + 105.61671933027586, + 3.69684234731783 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -689.3443212702673, + 105.61671933027586, + 3.69684234731783 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -686.3443212702673, + 105.61671933027586, + 3.69684234731783 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -682.7478131103516, + 107.50352409362793, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-14-31_145376088/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-14-31_145376088/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a45f07672212c85ef0de19359d54b45554f770a0 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-14-31_145376088/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 225.3561752378663, + -276.1690820654495, + -3.0497429292118783 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 222.75809902651298, + -277.6690820654495, + -3.0497429292118783 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 220.16002281515966, + -279.1690820654495, + -3.0497429292118783 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 217.56194660380635, + -280.6690820654495, + -3.0497429292118783 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 214.96387039245303, + -282.1690820654495, + -3.0497429292118783 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 212.36579418109972, + -283.6690820654495, + -3.0497429292118783 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 209.7677179697464, + -285.1690820654495, + -3.0497429292118783 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 207.16964175839308, + -286.6690820654495, + -3.0497429292118783 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 204.57156554703977, + -288.1690820654495, + -3.0497429292118783 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 201.97348933568645, + -289.6690820654495, + -3.0497429292118783 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 199.37541312433314, + -291.1690820654495, + -3.0497429292118783 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 196.77733691297982, + -292.6690820654495, + -3.0497429292118783 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 194.1792607016265, + -294.1690820654495, + -3.0497429292118783 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 191.5811844902732, + -295.6690820654495, + -3.0497429292118783 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 188.98310827891987, + -297.1690820654495, + -3.0497429292118783 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 186.38503206756656, + -298.6690820654495, + -3.0497429292118783 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 183.78695585621324, + -300.1690820654495, + -3.0497429292118783 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 181.18887964485992, + -301.6690820654495, + -3.0497429292118783 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 178.5908034335066, + -303.1690820654495, + -3.0497429292118783 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 178.5908034335066, + -303.1690820654495, + -3.0497429292118783 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 175.5908034335066, + -303.1690820654495, + -3.0497429292118783 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 172.5908034335066, + -303.1690820654495, + -3.0497429292118783 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 169.5908034335066, + -303.1690820654495, + -3.0497429292118783 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 166.5908034335066, + -303.1690820654495, + -3.0497429292118783 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 163.5908034335066, + -303.1690820654495, + -3.0497429292118783 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 160.5908034335066, + -303.1690820654495, + -3.0497429292118783 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 157.5908034335066, + -303.1690820654495, + -3.0497429292118783 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 156.50516716003418, + -301.9973617553711, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-16-41_1090438014/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-16-41_1090438014/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7895482841f3d4e70a20fa21a3be2987278c9a3d --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-16-41_1090438014/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -831.3572054175922, + 74.11632466030781, + 3.6417052008696142 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -828.3572054175922, + 74.11632466030781, + 3.6417052008696142 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -825.3572054175922, + 74.11632466030781, + 3.6417052008696142 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -822.3572054175922, + 74.11632466030781, + 3.6417052008696142 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -819.3572054175922, + 74.11632466030781, + 3.6417052008696142 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -816.3572054175922, + 74.11632466030781, + 3.6417052008696142 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -813.3572054175922, + 74.11632466030781, + 3.6417052008696142 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -810.3572054175922, + 74.11632466030781, + 3.6417052008696142 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -807.3572054175922, + 74.11632466030781, + 3.6417052008696142 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -804.3572054175922, + 74.11632466030781, + 3.6417052008696142 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -801.3572054175922, + 74.11632466030781, + 3.6417052008696142 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -801.3572054175922, + 74.11632466030781, + 3.6417052008696142 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -801.3572054175922, + 74.11632466030781, + 3.6417052008696142 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -799.8572054175922, + 71.5182484489545, + 3.6417052008696142 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -798.3572054175922, + 68.92017223760118, + 3.6417052008696142 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -798.3572054175922, + 68.92017223760118, + 3.6417052008696142 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -795.7591292062389, + 67.42017223760118, + 3.6417052008696142 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -793.1610529948855, + 65.92017223760118, + 3.6417052008696142 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -790.5629767835321, + 64.42017223760118, + 3.6417052008696142 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -787.9649005721787, + 62.92017223760118, + 3.6417052008696142 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -785.3668243608254, + 61.42017223760118, + 3.6417052008696142 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -782.768748149472, + 59.92017223760118, + 3.6417052008696142 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -780.1706719381186, + 58.42017223760118, + 3.6417052008696142 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -777.5725957267653, + 56.92017223760118, + 3.6417052008696142 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -774.9745195154119, + 55.42017223760118, + 3.6417052008696142 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -772.3764433040585, + 53.92017223760118, + 3.6417052008696142 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -769.7783670927051, + 52.42017223760118, + 3.6417052008696142 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -768.8232287597656, + 49.617736358642574, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-16-55_428674782/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-16-55_428674782/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..57a611e1f22a30db894ad42ec7d251ac04c281a0 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-16-55_428674782/pose.jsonl @@ -0,0 +1,534 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -338.2746107858801, + 578.7089626092293, + -2.1113560247627734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -339.7746107858801, + 576.1108863978759, + -2.1113560247627734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -341.2746107858801, + 573.5128101865225, + -2.1113560247627734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -342.7746107858801, + 570.9147339751692, + -2.1113560247627734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -344.2746107858801, + 568.3166577638158, + -2.1113560247627734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -345.7746107858801, + 565.7185815524624, + -2.1113560247627734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -347.2746107858801, + 563.120505341109, + -2.1113560247627734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -348.7746107858801, + 560.5224291297557, + -2.1113560247627734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -350.2746107858801, + 557.9243529184023, + -2.1113560247627734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -351.7746107858801, + 555.3262767070489, + -2.1113560247627734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -353.2746107858801, + 552.7282004956955, + -2.1113560247627734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -354.7746107858801, + 550.1301242843422, + -2.1113560247627734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -356.2746107858801, + 547.5320480729888, + -2.1113560247627734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -357.7746107858801, + 544.9339718616354, + -2.1113560247627734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -359.2746107858801, + 542.335895650282, + -2.1113560247627734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -360.7746107858801, + 539.7378194389287, + -2.1113560247627734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -362.2746107858801, + 537.1397432275753, + -2.1113560247627734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -363.7746107858801, + 534.5416670162219, + -2.1113560247627734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -365.2746107858801, + 531.9435908048686, + -2.1113560247627734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -366.7746107858801, + 529.3455145935152, + -2.1113560247627734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -368.2746107858801, + 526.7474383821618, + -2.1113560247627734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -369.7746107858801, + 524.1493621708084, + -2.1113560247627734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -371.2746107858801, + 521.5512859594551, + -2.1113560247627734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -372.7746107858801, + 518.9532097481017, + -2.1113560247627734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -374.2746107858801, + 516.3551335367483, + -2.1113560247627734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -375.7746107858801, + 513.757057325395, + -2.1113560247627734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -377.2746107858801, + 511.15898111404164, + -2.1113560247627734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -378.7746107858801, + 508.5609049026883, + -2.1113560247627734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -380.2746107858801, + 505.962828691335, + -2.1113560247627734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -381.7746107858801, + 503.3647524799817, + -2.1113560247627734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -383.2746107858801, + 500.7666762686284, + -2.1113560247627734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -384.7746107858801, + 498.16860005727506, + -2.1113560247627734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -386.2746107858801, + 495.57052384592174, + -2.1113560247627734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -387.7746107858801, + 492.9724476345684, + -2.1113560247627734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -389.2746107858801, + 490.3743714232151, + -2.1113560247627734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -390.7746107858801, + 487.7762952118618, + -2.1113560247627734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -392.2746107858801, + 485.1782190005085, + -2.1113560247627734 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -392.2746107858801, + 485.1782190005085, + -2.1113560247627734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -394.8726869972334, + 483.6782190005085, + -2.1113560247627734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -397.47076320858673, + 482.1782190005085, + -2.1113560247627734 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -399.08082916259764, + 479.4950012207031, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-18-43_419481884/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-18-43_419481884/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7ab3728ca8cf20314a4bb207a6702b448aa80acb --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-18-43_419481884/pose.jsonl @@ -0,0 +1,391 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -355.95325655124395, + 485.3194035874915, + 1.8427713101968575 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -354.45325655124395, + 487.9174797988448, + 1.8427713101968575 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -352.95325655124395, + 490.5155560101981, + 1.8427713101968575 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -351.45325655124395, + 493.1136322215514, + 1.8427713101968575 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -349.95325655124395, + 495.71170843290474, + 1.8427713101968575 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -348.45325655124395, + 498.30978464425806, + 1.8427713101968575 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -346.95325655124395, + 500.9078608556114, + 1.8427713101968575 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -345.45325655124395, + 503.5059370669647, + 1.8427713101968575 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -343.95325655124395, + 506.104013278318, + 1.8427713101968575 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -342.45325655124395, + 508.7020894896713, + 1.8427713101968575 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -340.95325655124395, + 511.30016570102464, + 1.8427713101968575 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -339.45325655124395, + 513.8982419123779, + 1.8427713101968575 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -337.95325655124395, + 516.4963181237313, + 1.8427713101968575 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -336.45325655124395, + 519.0943943350846, + 1.8427713101968575 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -334.95325655124395, + 521.692470546438, + 1.8427713101968575 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -334.95325655124395, + 521.692470546438, + 1.8427713101968575 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -334.95325655124395, + 524.692470546438, + 1.8427713101968575 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -334.95325655124395, + 527.692470546438, + 1.8427713101968575 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -334.95325655124395, + 530.692470546438, + 1.8427713101968575 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -334.95325655124395, + 533.692470546438, + 1.8427713101968575 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -334.95325655124395, + 536.692470546438, + 1.8427713101968575 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -334.95325655124395, + 539.692470546438, + 1.8427713101968575 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -334.95325655124395, + 542.692470546438, + 1.8427713101968575 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -334.95325655124395, + 545.692470546438, + 1.8427713101968575 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -334.95325655124395, + 548.692470546438, + 1.8427713101968575 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -334.95325655124395, + 551.692470546438, + 1.8427713101968575 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -334.95325655124395, + 554.692470546438, + 1.8427713101968575 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -334.95325655124395, + 557.692470546438, + 1.8427713101968575 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -334.95325655124395, + 560.692470546438, + 1.8427713101968575 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -335.0891884613037, + 561.9170278930663, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-2-24_825791694/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-2-24_825791694/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..354d65823b0eb93fd35a17e4e8a521c419a56747 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-2-24_825791694/pose.jsonl @@ -0,0 +1,430 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -606.8421567328803, + 160.0311656517473, + -0.3978763824140916 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -608.3421567328803, + 157.43308944039399, + -0.3978763824140916 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -609.8421567328803, + 154.83501322904067, + -0.3978763824140916 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -611.3421567328803, + 152.23693701768735, + -0.3978763824140916 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -612.8421567328803, + 149.63886080633404, + -0.3978763824140916 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -614.3421567328803, + 147.04078459498072, + -0.3978763824140916 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -615.8421567328803, + 144.4427083836274, + -0.3978763824140916 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -617.3421567328803, + 141.8446321722741, + -0.3978763824140916 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -618.8421567328803, + 139.24655596092077, + -0.3978763824140916 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -620.3421567328803, + 136.64847974956746, + -0.3978763824140916 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -621.8421567328803, + 134.05040353821414, + -0.3978763824140916 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -623.3421567328803, + 131.45232732686082, + -0.3978763824140916 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -624.8421567328803, + 128.8542511155075, + -0.3978763824140916 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -626.3421567328803, + 126.2561749041542, + -0.3978763824140916 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -627.8421567328803, + 123.65809869280088, + -0.3978763824140916 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -629.3421567328803, + 121.06002248144756, + -0.3978763824140916 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -630.8421567328803, + 118.46194627009424, + -0.3978763824140916 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -632.3421567328803, + 115.86387005874093, + -0.3978763824140916 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -633.8421567328803, + 113.26579384738761, + -0.3978763824140916 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -635.3421567328803, + 110.6677176360343, + -0.3978763824140916 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -636.8421567328803, + 108.06964142468098, + -0.3978763824140916 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -638.3421567328803, + 105.47156521332766, + -0.3978763824140916 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -639.8421567328803, + 102.87348900197435, + -0.3978763824140916 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -641.3421567328803, + 100.27541279062103, + -0.3978763824140916 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -642.8421567328803, + 97.67733657926772, + -0.3978763824140916 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -644.3421567328803, + 95.0792603679144, + -0.3978763824140916 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -645.8421567328803, + 92.48118415656108, + -0.3978763824140916 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -647.3421567328803, + 89.88310794520777, + -0.3978763824140916 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -648.8421567328803, + 87.28503173385445, + -0.3978763824140916 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -650.3421567328803, + 84.68695552250114, + -0.3978763824140916 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -650.3421567328803, + 84.68695552250114, + -0.3978763824140916 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -652.9402329442337, + 83.18695552250114, + -0.3978763824140916 + ], + "type": "stop", + "value": 0, + "yaw": -2.617993877991494 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -655.7620668029786, + 80.36062210083007, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-2-58_1634296630/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-2-58_1634296630/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..599764dba199c2c8b19ab7254f063812aca3d9a6 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-2-58_1634296630/pose.jsonl @@ -0,0 +1,430 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -470.6489215945143, + -302.3485890489083, + -0.40346576776575294 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -472.1489215945143, + -299.750512837555, + -0.40346576776575294 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -473.6489215945143, + -297.1524366262017, + -0.40346576776575294 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -475.1489215945143, + -294.55436041484836, + -0.40346576776575294 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -476.6489215945143, + -291.95628420349504, + -0.40346576776575294 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -478.1489215945143, + -289.35820799214173, + -0.40346576776575294 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -479.6489215945143, + -286.7601317807884, + -0.40346576776575294 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -481.1489215945143, + -284.1620555694351, + -0.40346576776575294 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -482.6489215945143, + -281.5639793580818, + -0.40346576776575294 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -484.1489215945143, + -278.96590314672846, + -0.40346576776575294 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -485.6489215945143, + -276.36782693537515, + -0.40346576776575294 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -487.1489215945143, + -273.76975072402183, + -0.40346576776575294 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -488.6489215945143, + -271.1716745126685, + -0.40346576776575294 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -490.1489215945143, + -268.5735983013152, + -0.40346576776575294 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -491.6489215945143, + -265.9755220899619, + -0.40346576776575294 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -493.1489215945143, + -263.37744587860857, + -0.40346576776575294 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -494.6489215945143, + -260.77936966725525, + -0.40346576776575294 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -496.1489215945143, + -258.18129345590194, + -0.40346576776575294 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -497.6489215945143, + -255.58321724454862, + -0.40346576776575294 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -499.1489215945143, + -252.9851410331953, + -0.40346576776575294 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -500.6489215945143, + -250.387064821842, + -0.40346576776575294 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -502.1489215945143, + -247.78898861048867, + -0.40346576776575294 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -503.6489215945143, + -245.19091239913536, + -0.40346576776575294 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -505.1489215945143, + -242.59283618778204, + -0.40346576776575294 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -506.6489215945143, + -239.99475997642872, + -0.40346576776575294 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -508.1489215945143, + -237.3966837650754, + -0.40346576776575294 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -509.6489215945143, + -234.7986075537221, + -0.40346576776575294 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -509.6489215945143, + -234.7986075537221, + -0.40346576776575294 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -509.6489215945143, + -231.7986075537221, + -0.40346576776575294 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -509.6489215945143, + -228.7986075537221, + -0.40346576776575294 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -509.6489215945143, + -225.7986075537221, + -0.40346576776575294 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -509.6489215945143, + -222.7986075537221, + -0.40346576776575294 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -510.5901588439941, + -220.83477218627928, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-20-21_2134113236/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-20-21_2134113236/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9e147b73518893ac200bcfe28808585eb6e4d3f6 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-20-21_2134113236/pose.jsonl @@ -0,0 +1,508 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -164.01360151491613, + -476.41664039890924, + -1.1319340249100183 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -167.01360151491613, + -476.41664039890924, + -1.1319340249100183 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -170.01360151491613, + -476.41664039890924, + -1.1319340249100183 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -173.01360151491613, + -476.41664039890924, + -1.1319340249100183 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -176.01360151491613, + -476.41664039890924, + -1.1319340249100183 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -179.01360151491613, + -476.41664039890924, + -1.1319340249100183 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -182.01360151491613, + -476.41664039890924, + -1.1319340249100183 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -185.01360151491613, + -476.41664039890924, + -1.1319340249100183 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -188.01360151491613, + -476.41664039890924, + -1.1319340249100183 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -191.01360151491613, + -476.41664039890924, + -1.1319340249100183 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -194.01360151491613, + -476.41664039890924, + -1.1319340249100183 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -197.01360151491613, + -476.41664039890924, + -1.1319340249100183 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -200.01360151491613, + -476.41664039890924, + -1.1319340249100183 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -203.01360151491613, + -476.41664039890924, + -1.1319340249100183 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -206.01360151491613, + -476.41664039890924, + -1.1319340249100183 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -209.01360151491613, + -476.41664039890924, + -1.1319340249100183 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -212.01360151491613, + -476.41664039890924, + -1.1319340249100183 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -215.01360151491613, + -476.41664039890924, + -1.1319340249100183 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -218.01360151491613, + -476.41664039890924, + -1.1319340249100183 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -221.01360151491613, + -476.41664039890924, + -1.1319340249100183 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -224.01360151491613, + -476.41664039890924, + -1.1319340249100183 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -227.01360151491613, + -476.41664039890924, + -1.1319340249100183 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -230.01360151491613, + -476.41664039890924, + -1.1319340249100183 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -233.01360151491613, + -476.41664039890924, + -1.1319340249100183 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -236.01360151491613, + -476.41664039890924, + -1.1319340249100183 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -239.01360151491613, + -476.41664039890924, + -1.1319340249100183 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -242.01360151491613, + -476.41664039890924, + -1.1319340249100183 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -245.01360151491613, + -476.41664039890924, + -1.1319340249100183 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -245.01360151491613, + -476.41664039890924, + -1.1319340249100183 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -247.61167772626945, + -474.91664039890924, + -1.1319340249100183 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -250.20975393762276, + -473.41664039890924, + -1.1319340249100183 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -252.80783014897608, + -471.91664039890924, + -1.1319340249100183 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -255.4059063603294, + -470.41664039890924, + -1.1319340249100183 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -258.00398257168274, + -468.91664039890924, + -1.1319340249100183 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914993 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -260.60205878303606, + -467.41664039890924, + -1.1319340249100183 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -263.2001349943894, + -465.91664039890924, + -1.1319340249100183 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -265.7982112057427, + -464.41664039890924, + -1.1319340249100183 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -268.396287417096, + -462.91664039890924, + -1.1319340249100183 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -270.6246540832519, + -464.87673126220704, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-22-1_1918386023/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-22-1_1918386023/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7789ff12e82b5dcd90cce18b017ba766417a224c --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-22-1_1918386023/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 365.20449482861596, + 556.3324554613575, + 0.45183780572914056 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 368.20449482861596, + 556.3324554613575, + 0.45183780572914056 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 371.20449482861596, + 556.3324554613575, + 0.45183780572914056 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 374.20449482861596, + 556.3324554613575, + 0.45183780572914056 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 377.20449482861596, + 556.3324554613575, + 0.45183780572914056 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 380.20449482861596, + 556.3324554613575, + 0.45183780572914056 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 383.20449482861596, + 556.3324554613575, + 0.45183780572914056 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 386.20449482861596, + 556.3324554613575, + 0.45183780572914056 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 389.20449482861596, + 556.3324554613575, + 0.45183780572914056 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 392.20449482861596, + 556.3324554613575, + 0.45183780572914056 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 395.20449482861596, + 556.3324554613575, + 0.45183780572914056 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 398.20449482861596, + 556.3324554613575, + 0.45183780572914056 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 401.20449482861596, + 556.3324554613575, + 0.45183780572914056 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 404.20449482861596, + 556.3324554613575, + 0.45183780572914056 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 407.20449482861596, + 556.3324554613575, + 0.45183780572914056 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 410.20449482861596, + 556.3324554613575, + 0.45183780572914056 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 413.20449482861596, + 556.3324554613575, + 0.45183780572914056 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 416.20449482861596, + 556.3324554613575, + 0.45183780572914056 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 416.20449482861596, + 556.3324554613575, + 0.45183780572914056 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 418.8025710399693, + 557.8324554613575, + 0.45183780572914056 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 421.4006472513226, + 559.3324554613575, + 0.45183780572914056 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 423.9987234626759, + 560.8324554613575, + 0.45183780572914056 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 426.5967996740292, + 562.3324554613575, + 0.45183780572914056 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 429.19487588538254, + 563.8324554613575, + 0.45183780572914056 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 431.79295209673586, + 565.3324554613575, + 0.45183780572914056 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 434.03729019165036, + 563.8867979431152, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-24-23_2124149955/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-24-23_2124149955/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..55b46de681017e9e10f833e439e7541571d2992f --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-24-23_2124149955/pose.jsonl @@ -0,0 +1,430 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -916.4018833104174, + 250.62476325192398, + -3.311032801102762 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -918.9999595217707, + 252.12476325192398, + -3.311032801102762 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -921.5980357331241, + 253.62476325192398, + -3.311032801102762 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -924.1961119444775, + 255.12476325192398, + -3.311032801102762 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -926.7941881558309, + 256.624763251924, + -3.311032801102762 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -929.3922643671842, + 258.124763251924, + -3.311032801102762 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -931.9903405785376, + 259.624763251924, + -3.311032801102762 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -934.588416789891, + 261.124763251924, + -3.311032801102762 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -937.1864930012443, + 262.624763251924, + -3.311032801102762 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -939.7845692125977, + 264.124763251924, + -3.311032801102762 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -942.3826454239511, + 265.624763251924, + -3.311032801102762 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -944.9807216353045, + 267.124763251924, + -3.311032801102762 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -947.5787978466578, + 268.624763251924, + -3.311032801102762 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -950.1768740580112, + 270.124763251924, + -3.311032801102762 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -952.7749502693646, + 271.624763251924, + -3.311032801102762 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -955.373026480718, + 273.124763251924, + -3.311032801102762 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -957.9711026920713, + 274.624763251924, + -3.311032801102762 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -960.5691789034247, + 276.124763251924, + -3.311032801102762 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -960.5691789034247, + 276.124763251924, + -3.311032801102762 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -963.5691789034247, + 276.124763251924, + -3.311032801102762 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -966.5691789034247, + 276.124763251924, + -3.311032801102762 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -969.5691789034247, + 276.124763251924, + -3.311032801102762 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -972.5691789034247, + 276.124763251924, + -3.311032801102762 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -975.5691789034247, + 276.124763251924, + -3.311032801102762 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -978.5691789034247, + 276.124763251924, + -3.311032801102762 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -981.5691789034247, + 276.124763251924, + -3.311032801102762 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -984.5691789034247, + 276.124763251924, + -3.311032801102762 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -987.5691789034247, + 276.124763251924, + -3.311032801102762 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -990.5691789034247, + 276.124763251924, + -3.311032801102762 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -993.5691789034247, + 276.124763251924, + -3.311032801102762 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -996.5691789034247, + 276.124763251924, + -3.311032801102762 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -999.5691789034247, + 276.124763251924, + -3.311032801102762 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1002.9734149169922, + 277.3824105834961, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-27-37_1976714674/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-27-37_1976714674/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..591c190adcb89afc6a8631f4115b5a6d4117ca08 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-27-37_1976714674/pose.jsonl @@ -0,0 +1,352 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 434.7703683282958, + 69.73890192342711, + -3.262924477548325 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 436.2703683282958, + 67.14082571207379, + -3.262924477548325 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 437.7703683282958, + 64.54274950072048, + -3.262924477548325 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 439.2703683282958, + 61.94467328936716, + -3.262924477548325 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 440.7703683282958, + 59.34659707801384, + -3.262924477548325 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 442.2703683282958, + 56.74852086666053, + -3.262924477548325 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 443.7703683282958, + 54.15044465530721, + -3.262924477548325 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 445.2703683282958, + 51.552368443953895, + -3.262924477548325 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 446.7703683282958, + 48.95429223260058, + -3.262924477548325 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 448.2703683282958, + 46.35621602124726, + -3.262924477548325 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 448.2703683282958, + 46.35621602124726, + -3.262924477548325 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 450.8684445396491, + 44.85621602124726, + -3.262924477548325 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 453.4665207510024, + 43.35621602124726, + -3.262924477548325 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 456.0645969623557, + 41.85621602124726, + -3.262924477548325 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 458.66267317370904, + 40.35621602124726, + -3.262924477548325 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 461.26074938506235, + 38.85621602124726, + -3.262924477548325 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 463.85882559641567, + 37.35621602124726, + -3.262924477548325 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 466.456901807769, + 35.85621602124726, + -3.262924477548325 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 469.0549780191223, + 34.35621602124726, + -3.262924477548325 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 471.6530542304756, + 32.85621602124726, + -3.262924477548325 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 471.6530542304756, + 32.85621602124726, + -3.262924477548325 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 473.1530542304756, + 30.258139809893947, + -3.262924477548325 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 474.6530542304756, + 27.66006359854063, + -3.262924477548325 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 476.1530542304756, + 25.061987387187315, + -3.262924477548325 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 477.6530542304756, + 22.463911175834, + -3.262924477548325 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 479.1530542304756, + 19.865834964480683, + -3.262924477548325 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 481.2035136413574, + 19.23793586730957, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-35-36_1445834946/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-35-36_1445834946/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..84b677ba88830325f6daa83e4f7a59e255d91a18 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-35-36_1445834946/pose.jsonl @@ -0,0 +1,235 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -999.6621416989944, + 368.27526834614065, + 4.251182694393069 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -999.6621416989944, + 365.27526834614065, + 4.251182694393069 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -999.6621416989944, + 362.27526834614065, + 4.251182694393069 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -999.6621416989944, + 359.27526834614065, + 4.251182694393069 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -999.6621416989944, + 356.27526834614065, + 4.251182694393069 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -999.6621416989944, + 353.27526834614065, + 4.251182694393069 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -999.6621416989944, + 350.27526834614065, + 4.251182694393069 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -999.6621416989944, + 347.27526834614065, + 4.251182694393069 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -999.6621416989944, + 344.27526834614065, + 4.251182694393069 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -999.6621416989944, + 341.27526834614065, + 4.251182694393069 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -999.6621416989944, + 338.27526834614065, + 4.251182694393069 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -999.6621416989944, + 335.27526834614065, + 4.251182694393069 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -999.6621416989944, + 332.27526834614065, + 4.251182694393069 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -999.6621416989944, + 329.27526834614065, + 4.251182694393069 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -999.6621416989944, + 326.27526834614065, + 4.251182694393069 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -999.6621416989944, + 323.27526834614065, + 4.251182694393069 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -999.6621416989944, + 320.27526834614065, + 4.251182694393069 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1002.9734149169922, + 277.3824105834961, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-36-14_1818150212/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-36-14_1818150212/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..84bbaf4cf10691d7f7a2bbc052da3f627bac2c84 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-36-14_1818150212/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -447.91504664693286, + -88.8482345539333, + 3.9422296629108438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -447.91504664693286, + -91.8482345539333, + 3.9422296629108438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -447.91504664693286, + -94.8482345539333, + 3.9422296629108438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -447.91504664693286, + -97.8482345539333, + 3.9422296629108438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -447.91504664693286, + -100.8482345539333, + 3.9422296629108438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -447.91504664693286, + -103.8482345539333, + 3.9422296629108438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -447.91504664693286, + -106.8482345539333, + 3.9422296629108438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -447.91504664693286, + -109.8482345539333, + 3.9422296629108438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -447.91504664693286, + -112.8482345539333, + 3.9422296629108438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -447.91504664693286, + -115.8482345539333, + 3.9422296629108438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -447.91504664693286, + -118.8482345539333, + 3.9422296629108438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -447.91504664693286, + -121.8482345539333, + 3.9422296629108438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -447.91504664693286, + -124.8482345539333, + 3.9422296629108438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -447.91504664693286, + -127.8482345539333, + 3.9422296629108438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -447.91504664693286, + -130.8482345539333, + 3.9422296629108438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -447.91504664693286, + -133.8482345539333, + 3.9422296629108438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -447.91504664693286, + -136.8482345539333, + 3.9422296629108438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -447.91504664693286, + -139.8482345539333, + 3.9422296629108438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -447.91504664693286, + -142.8482345539333, + 3.9422296629108438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -447.91504664693286, + -145.8482345539333, + 3.9422296629108438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -447.91504664693286, + -148.8482345539333, + 3.9422296629108438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -447.91504664693286, + -151.8482345539333, + 3.9422296629108438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -447.91504664693286, + -154.8482345539333, + 3.9422296629108438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -447.91504664693286, + -157.8482345539333, + 3.9422296629108438 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -445.52278427124025, + -160.4525846862793, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-36-39_770833934/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-36-39_770833934/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2ab638e5cc93f0b97bd10431f2d250f95d78eccc --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-36-39_770833934/pose.jsonl @@ -0,0 +1,300 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 408.8443796862559, + 506.322202910542, + -3.4572019374483607 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 410.3443796862559, + 508.9202791218953, + -3.4572019374483607 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 411.8443796862559, + 511.5183553332486, + -3.4572019374483607 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 413.3443796862559, + 514.1164315446019, + -3.4572019374483607 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 414.8443796862559, + 516.7145077559553, + -3.4572019374483607 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 416.3443796862559, + 519.3125839673087, + -3.4572019374483607 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 417.8443796862559, + 521.910660178662, + -3.4572019374483607 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 419.3443796862559, + 524.5087363900154, + -3.4572019374483607 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 420.8443796862559, + 527.1068126013688, + -3.4572019374483607 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 422.3443796862559, + 529.7048888127222, + -3.4572019374483607 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 423.8443796862559, + 532.3029650240755, + -3.4572019374483607 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 425.3443796862559, + 534.9010412354289, + -3.4572019374483607 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 426.8443796862559, + 537.4991174467823, + -3.4572019374483607 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 428.3443796862559, + 540.0971936581357, + -3.4572019374483607 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 429.8443796862559, + 542.695269869489, + -3.4572019374483607 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 431.3443796862559, + 545.2933460808424, + -3.4572019374483607 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 432.8443796862559, + 547.8914222921958, + -3.4572019374483607 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 434.3443796862559, + 550.4894985035492, + -3.4572019374483607 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 435.8443796862559, + 553.0875747149025, + -3.4572019374483607 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 437.3443796862559, + 555.6856509262559, + -3.4572019374483607 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 438.8443796862559, + 558.2837271376093, + -3.4572019374483607 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 440.3443796862559, + 560.8818033489626, + -3.4572019374483607 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 439.84950744628907, + 563.3985629272461, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-43-1_1344541320/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-43-1_1344541320/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a7cbc8070efb45895e5a11d67a2e9b5c7c4f0daa --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-43-1_1344541320/pose.jsonl @@ -0,0 +1,456 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 379.23827739408216, + 638.6928862776283, + -2.0972252607691773 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 380.73827739408216, + 636.0948100662749, + -2.0972252607691773 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 382.23827739408216, + 633.4967338549216, + -2.0972252607691773 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 383.73827739408216, + 630.8986576435682, + -2.0972252607691773 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 385.23827739408216, + 628.3005814322148, + -2.0972252607691773 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 386.73827739408216, + 625.7025052208614, + -2.0972252607691773 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 388.23827739408216, + 623.1044290095081, + -2.0972252607691773 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 389.73827739408216, + 620.5063527981547, + -2.0972252607691773 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 391.23827739408216, + 617.9082765868013, + -2.0972252607691773 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 392.73827739408216, + 615.310200375448, + -2.0972252607691773 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 394.23827739408216, + 612.7121241640946, + -2.0972252607691773 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 395.73827739408216, + 610.1140479527412, + -2.0972252607691773 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 397.23827739408216, + 607.5159717413878, + -2.0972252607691773 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 398.73827739408216, + 604.9178955300345, + -2.0972252607691773 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 400.23827739408216, + 602.3198193186811, + -2.0972252607691773 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 401.73827739408216, + 599.7217431073277, + -2.0972252607691773 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 403.23827739408216, + 597.1236668959743, + -2.0972252607691773 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 404.73827739408216, + 594.525590684621, + -2.0972252607691773 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 406.23827739408216, + 591.9275144732676, + -2.0972252607691773 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 407.73827739408216, + 589.3294382619142, + -2.0972252607691773 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 409.23827739408216, + 586.7313620505608, + -2.0972252607691773 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 410.73827739408216, + 584.1332858392075, + -2.0972252607691773 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 412.23827739408216, + 581.5352096278541, + -2.0972252607691773 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 412.23827739408216, + 581.5352096278541, + -2.0972252607691773 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 414.8363536054355, + 580.0352096278541, + -2.0972252607691773 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 417.4344298167888, + 578.5352096278541, + -2.0972252607691773 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 420.0325060281421, + 577.0352096278541, + -2.0972252607691773 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 422.6305822394954, + 575.5352096278541, + -2.0972252607691773 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 425.22865845084874, + 574.0352096278541, + -2.0972252607691773 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 427.82673466220206, + 572.5352096278541, + -2.0972252607691773 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 430.4248108735554, + 571.0352096278541, + -2.0972252607691773 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 433.0228870849087, + 569.5352096278541, + -2.0972252607691773 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 435.620963296262, + 568.0352096278541, + -2.0972252607691773 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 438.2190395076153, + 566.5352096278541, + -2.0972252607691773 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 439.84950744628907, + 563.3985629272461, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-43-47_1611336688/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-43-47_1611336688/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d83a3b3944ef01f6d73c7ab44602cc2da02ed365 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-43-47_1611336688/pose.jsonl @@ -0,0 +1,404 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -559.2303665924871, + -290.5608140117368, + 1.5827201668239086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -557.7303665924871, + -287.9627378003835, + 1.5827201668239086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -556.2303665924871, + -285.36466158903016, + 1.5827201668239086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -554.7303665924871, + -282.76658537767685, + 1.5827201668239086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -553.2303665924871, + -280.16850916632353, + 1.5827201668239086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -551.7303665924871, + -277.5704329549702, + 1.5827201668239086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -550.2303665924871, + -274.9723567436169, + 1.5827201668239086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -548.7303665924871, + -272.3742805322636, + 1.5827201668239086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -547.2303665924871, + -269.77620432091027, + 1.5827201668239086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -545.7303665924871, + -267.17812810955695, + 1.5827201668239086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -544.2303665924871, + -264.58005189820364, + 1.5827201668239086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -542.7303665924871, + -261.9819756868503, + 1.5827201668239086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -541.2303665924871, + -259.383899475497, + 1.5827201668239086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -539.7303665924871, + -256.7858232641437, + 1.5827201668239086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -538.2303665924871, + -254.18774705279037, + 1.5827201668239086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -536.7303665924871, + -251.58967084143706, + 1.5827201668239086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -535.2303665924871, + -248.99159463008374, + 1.5827201668239086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -533.7303665924871, + -246.39351841873042, + 1.5827201668239086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -532.2303665924871, + -243.7954422073771, + 1.5827201668239086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -530.7303665924871, + -241.1973659960238, + 1.5827201668239086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -529.2303665924871, + -238.59928978467048, + 1.5827201668239086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -527.7303665924871, + -236.00121357331716, + 1.5827201668239086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -526.2303665924871, + -233.40313736196384, + 1.5827201668239086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -524.7303665924871, + -230.80506115061053, + 1.5827201668239086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -523.2303665924871, + -228.2069849392572, + 1.5827201668239086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -521.7303665924871, + -225.6089087279039, + 1.5827201668239086 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -521.7303665924871, + -225.6089087279039, + 1.5827201668239086 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -519.1322903811338, + -224.1089087279039, + 1.5827201668239086 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -516.5342141697804, + -222.6089087279039, + 1.5827201668239086 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -513.936137958427, + -221.1089087279039, + 1.5827201668239086 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -510.5901588439941, + -220.83477218627928, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-45-33_727843428/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-45-33_727843428/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4b710caa2250370a8214c07ffd29488af9e47e33 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-45-33_727843428/pose.jsonl @@ -0,0 +1,391 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 219.4295369684966, + -250.90116816741397, + -4.7524888629941175 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 216.83146075714328, + -252.40116816741397, + -4.7524888629941175 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 214.23338454578996, + -253.90116816741397, + -4.7524888629941175 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 211.63530833443664, + -255.40116816741397, + -4.7524888629941175 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 209.03723212308333, + -256.90116816741397, + -4.7524888629941175 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 206.43915591173, + -258.40116816741397, + -4.7524888629941175 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 203.8410797003767, + -259.90116816741397, + -4.7524888629941175 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 201.24300348902338, + -261.40116816741397, + -4.7524888629941175 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 198.64492727767006, + -262.90116816741397, + -4.7524888629941175 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 196.04685106631675, + -264.40116816741397, + -4.7524888629941175 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 193.44877485496343, + -265.90116816741397, + -4.7524888629941175 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 190.85069864361012, + -267.40116816741397, + -4.7524888629941175 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 188.2526224322568, + -268.90116816741397, + -4.7524888629941175 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 185.65454622090348, + -270.40116816741397, + -4.7524888629941175 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 183.05647000955017, + -271.90116816741397, + -4.7524888629941175 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 180.45839379819685, + -273.40116816741397, + -4.7524888629941175 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 177.86031758684354, + -274.90116816741397, + -4.7524888629941175 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 175.26224137549022, + -276.40116816741397, + -4.7524888629941175 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 172.6641651641369, + -277.90116816741397, + -4.7524888629941175 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 170.0660889527836, + -279.40116816741397, + -4.7524888629941175 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 167.46801274143027, + -280.90116816741397, + -4.7524888629941175 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 167.46801274143027, + -280.90116816741397, + -4.7524888629941175 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 165.96801274143027, + -283.4992443787673, + -4.7524888629941175 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 164.46801274143027, + -286.0973205901206, + -4.7524888629941175 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 162.96801274143027, + -288.6953968014739, + -4.7524888629941175 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 161.46801274143027, + -291.29347301282723, + -4.7524888629941175 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 159.96801274143027, + -293.89154922418055, + -4.7524888629941175 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 158.46801274143027, + -296.48962543553387, + -4.7524888629941175 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 156.96801274143027, + -299.0877016468872, + -4.7524888629941175 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 156.50516716003418, + -301.9973617553711, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-47-28_1235238502/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-47-28_1235238502/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7283c9bbd57e2f51cc023d179433429d96f48d39 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-47-28_1235238502/pose.jsonl @@ -0,0 +1,547 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -208.3741580738775, + -146.26543255838746, + 4.545868718909315 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -211.3741580738775, + -146.26543255838746, + 4.545868718909315 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -214.3741580738775, + -146.26543255838746, + 4.545868718909315 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -217.3741580738775, + -146.26543255838746, + 4.545868718909315 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -220.3741580738775, + -146.26543255838746, + 4.545868718909315 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -223.3741580738775, + -146.26543255838746, + 4.545868718909315 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -226.3741580738775, + -146.26543255838746, + 4.545868718909315 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -229.3741580738775, + -146.26543255838746, + 4.545868718909315 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -232.3741580738775, + -146.26543255838746, + 4.545868718909315 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -235.3741580738775, + -146.26543255838746, + 4.545868718909315 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -238.3741580738775, + -146.26543255838746, + 4.545868718909315 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -241.3741580738775, + -146.26543255838746, + 4.545868718909315 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -244.3741580738775, + -146.26543255838746, + 4.545868718909315 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -247.3741580738775, + -146.26543255838746, + 4.545868718909315 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -250.3741580738775, + -146.26543255838746, + 4.545868718909315 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -253.3741580738775, + -146.26543255838746, + 4.545868718909315 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -256.37415807387754, + -146.26543255838746, + 4.545868718909315 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -259.37415807387754, + -146.26543255838746, + 4.545868718909315 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -262.37415807387754, + -146.26543255838746, + 4.545868718909315 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -265.37415807387754, + -146.26543255838746, + 4.545868718909315 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -268.37415807387754, + -146.26543255838746, + 4.545868718909315 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -271.37415807387754, + -146.26543255838746, + 4.545868718909315 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -274.37415807387754, + -146.26543255838746, + 4.545868718909315 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -277.37415807387754, + -146.26543255838746, + 4.545868718909315 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -280.37415807387754, + -146.26543255838746, + 4.545868718909315 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -283.37415807387754, + -146.26543255838746, + 4.545868718909315 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -286.37415807387754, + -146.26543255838746, + 4.545868718909315 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -289.37415807387754, + -146.26543255838746, + 4.545868718909315 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -292.37415807387754, + -146.26543255838746, + 4.545868718909315 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -295.37415807387754, + -146.26543255838746, + 4.545868718909315 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -298.37415807387754, + -146.26543255838746, + 4.545868718909315 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -298.37415807387754, + -146.26543255838746, + 4.545868718909315 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -300.97223428523085, + -144.76543255838746, + 4.545868718909315 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -303.57031049658417, + -143.26543255838746, + 4.545868718909315 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -306.1683867079375, + -141.76543255838746, + 4.545868718909315 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -308.7664629192908, + -140.26543255838746, + 4.545868718909315 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -311.3645391306441, + -138.76543255838746, + 4.545868718909315 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -313.96261534199743, + -137.26543255838746, + 4.545868718909315 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -316.56069155335075, + -135.76543255838746, + 4.545868718909315 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -319.15876776470407, + -134.26543255838746, + 4.545868718909315 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -321.7568439760574, + -132.76543255838746, + 4.545868718909315 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -323.98753799438475, + -133.34803604125977, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-50-56_774404628/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-50-56_774404628/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..656d4ac7ea08731f764b2e8097ed79ecbda27767 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-50-56_774404628/pose.jsonl @@ -0,0 +1,417 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -763.3680979145495, + 114.52468776946966, + -2.4437173818409734 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -760.3680979145495, + 114.52468776946966, + -2.4437173818409734 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -757.3680979145495, + 114.52468776946966, + -2.4437173818409734 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -754.3680979145495, + 114.52468776946966, + -2.4437173818409734 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -751.3680979145495, + 114.52468776946966, + -2.4437173818409734 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -748.3680979145495, + 114.52468776946966, + -2.4437173818409734 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -745.3680979145495, + 114.52468776946966, + -2.4437173818409734 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -742.3680979145495, + 114.52468776946966, + -2.4437173818409734 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -739.3680979145495, + 114.52468776946966, + -2.4437173818409734 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -736.3680979145495, + 114.52468776946966, + -2.4437173818409734 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -733.3680979145495, + 114.52468776946966, + -2.4437173818409734 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -730.3680979145495, + 114.52468776946966, + -2.4437173818409734 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -727.3680979145495, + 114.52468776946966, + -2.4437173818409734 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -724.3680979145495, + 114.52468776946966, + -2.4437173818409734 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -721.3680979145495, + 114.52468776946966, + -2.4437173818409734 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -718.3680979145495, + 114.52468776946966, + -2.4437173818409734 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -715.3680979145495, + 114.52468776946966, + -2.4437173818409734 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -712.3680979145495, + 114.52468776946966, + -2.4437173818409734 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -709.3680979145495, + 114.52468776946966, + -2.4437173818409734 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -706.3680979145495, + 114.52468776946966, + -2.4437173818409734 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -703.3680979145495, + 114.52468776946966, + -2.4437173818409734 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -700.3680979145495, + 114.52468776946966, + -2.4437173818409734 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -697.3680979145495, + 114.52468776946966, + -2.4437173818409734 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -694.3680979145495, + 114.52468776946966, + -2.4437173818409734 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -691.3680979145495, + 114.52468776946966, + -2.4437173818409734 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -691.3680979145495, + 114.52468776946966, + -2.4437173818409734 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -691.3680979145495, + 114.52468776946966, + -2.4437173818409734 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -689.8680979145495, + 111.92661155811635, + -2.4437173818409734 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -688.3680979145495, + 109.32853534676303, + -2.4437173818409734 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -688.3680979145495, + 109.32853534676303, + -2.4437173818409734 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -685.7700217031961, + 107.82853534676303, + -2.4437173818409734 + ], + "type": "stop", + "value": 0, + "yaw": -0.523598775598299 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -682.7478131103516, + 107.50352409362793, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-52-27_358279876/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-52-27_358279876/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..44affa5190f6d20d39f45b359811356a3ef1c983 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-52-27_358279876/pose.jsonl @@ -0,0 +1,508 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 322.9055306792443, + 772.5184753529298, + -3.956354439710166 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 322.9055306792443, + 769.5184753529298, + -3.956354439710166 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 322.9055306792443, + 766.5184753529298, + -3.956354439710166 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 322.9055306792443, + 763.5184753529298, + -3.956354439710166 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 322.9055306792443, + 760.5184753529298, + -3.956354439710166 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 322.9055306792443, + 757.5184753529298, + -3.956354439710166 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 322.9055306792443, + 754.5184753529298, + -3.956354439710166 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 322.9055306792443, + 751.5184753529298, + -3.956354439710166 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 322.9055306792443, + 748.5184753529298, + -3.956354439710166 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 322.9055306792443, + 745.5184753529298, + -3.956354439710166 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 322.9055306792443, + 742.5184753529298, + -3.956354439710166 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 322.9055306792443, + 739.5184753529298, + -3.956354439710166 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 322.9055306792443, + 736.5184753529298, + -3.956354439710166 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 322.9055306792443, + 733.5184753529298, + -3.956354439710166 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 322.9055306792443, + 730.5184753529298, + -3.956354439710166 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 322.9055306792443, + 727.5184753529298, + -3.956354439710166 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 322.9055306792443, + 724.5184753529298, + -3.956354439710166 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 322.9055306792443, + 721.5184753529298, + -3.956354439710166 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 322.9055306792443, + 718.5184753529298, + -3.956354439710166 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 322.9055306792443, + 715.5184753529298, + -3.956354439710166 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 322.9055306792443, + 712.5184753529298, + -3.956354439710166 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 322.9055306792443, + 709.5184753529298, + -3.956354439710166 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 322.9055306792443, + 706.5184753529298, + -3.956354439710166 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 322.9055306792443, + 703.5184753529298, + -3.956354439710166 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 322.9055306792443, + 703.5184753529298, + -3.956354439710166 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 321.4055306792443, + 700.9203991415766, + -3.956354439710166 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 319.9055306792443, + 698.3223229302232, + -3.956354439710166 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 318.4055306792443, + 695.7242467188698, + -3.956354439710166 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 316.9055306792443, + 693.1261705075165, + -3.956354439710166 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 315.4055306792443, + 690.5280942961631, + -3.956354439710166 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 313.9055306792443, + 687.9300180848097, + -3.956354439710166 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 312.4055306792443, + 685.3319418734563, + -3.956354439710166 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 310.9055306792443, + 682.733865662103, + -3.956354439710166 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 309.4055306792443, + 680.1357894507496, + -3.956354439710166 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 307.9055306792443, + 677.5377132393962, + -3.956354439710166 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 307.9055306792443, + 677.5377132393962, + -3.956354439710166 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 307.9055306792443, + 674.5377132393962, + -3.956354439710166 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 307.9055306792443, + 671.5377132393962, + -3.956354439710166 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 307.503537902832, + 668.8986363220215, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-54-42_1654435776/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-54-42_1654435776/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d531384d269930219187f71a8dad5a9407ca542e --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-54-42_1654435776/pose.jsonl @@ -0,0 +1,430 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -413.95208271745463, + 512.7891314016753, + -0.4158237108441911 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -411.3540065061013, + 514.2891314016753, + -0.4158237108441911 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -408.755930294748, + 515.7891314016753, + -0.4158237108441911 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -406.1578540833947, + 517.2891314016753, + -0.4158237108441911 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -403.55977787204137, + 518.7891314016753, + -0.4158237108441911 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -400.96170166068805, + 520.2891314016753, + -0.4158237108441911 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -398.36362544933473, + 521.7891314016753, + -0.4158237108441911 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -395.7655492379814, + 523.2891314016753, + -0.4158237108441911 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -393.1674730266281, + 524.7891314016753, + -0.4158237108441911 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -390.5693968152748, + 526.2891314016753, + -0.4158237108441911 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -387.97132060392147, + 527.7891314016753, + -0.4158237108441911 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -385.37324439256815, + 529.2891314016753, + -0.4158237108441911 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -382.77516818121484, + 530.7891314016753, + -0.4158237108441911 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -380.1770919698615, + 532.2891314016753, + -0.4158237108441911 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -377.5790157585082, + 533.7891314016753, + -0.4158237108441911 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -374.9809395471549, + 535.2891314016753, + -0.4158237108441911 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -372.3828633358016, + 536.7891314016753, + -0.4158237108441911 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -369.78478712444826, + 538.2891314016753, + -0.4158237108441911 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -367.18671091309494, + 539.7891314016753, + -0.4158237108441911 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -364.5886347017416, + 541.2891314016753, + -0.4158237108441911 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -361.9905584903883, + 542.7891314016753, + -0.4158237108441911 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -359.392482279035, + 544.2891314016753, + -0.4158237108441911 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -356.7944060676817, + 545.7891314016753, + -0.4158237108441911 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -354.19632985632836, + 547.2891314016753, + -0.4158237108441911 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -351.59825364497505, + 548.7891314016753, + -0.4158237108441911 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -349.00017743362173, + 550.2891314016753, + -0.4158237108441911 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -346.4021012222684, + 551.7891314016753, + -0.4158237108441911 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -343.8040250109151, + 553.2891314016753, + -0.4158237108441911 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -341.2059487995618, + 554.7891314016753, + -0.4158237108441911 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -338.60787258820847, + 556.2891314016753, + -0.4158237108441911 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -338.60787258820847, + 556.2891314016753, + -0.4158237108441911 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -337.10787258820847, + 558.8872076130285, + -0.4158237108441911 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965976 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -335.0891884613037, + 561.9170278930663, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-6-20_284327308/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-6-20_284327308/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f5d52880373e93ea202aa67127ca986bf170c1a3 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-6-20_284327308/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -778.1938167841635, + -16.01346962880479, + 2.0429026226550455 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -780.7918929955167, + -14.513469628804788, + 2.0429026226550455 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -783.3899692068701, + -13.013469628804788, + 2.0429026226550455 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -785.9880454182235, + -11.513469628804788, + 2.0429026226550455 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -788.5861216295768, + -10.013469628804788, + 2.0429026226550455 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -791.1841978409302, + -8.513469628804788, + 2.0429026226550455 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -793.7822740522836, + -7.013469628804788, + 2.0429026226550455 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -796.380350263637, + -5.513469628804788, + 2.0429026226550455 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -798.9784264749903, + -4.013469628804788, + 2.0429026226550455 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -801.5765026863437, + -2.5134696288047884, + 2.0429026226550455 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -804.1745788976971, + -1.0134696288047886, + 2.0429026226550455 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -806.7726551090504, + 0.48653037119521114, + 2.0429026226550455 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -809.3707313204038, + 1.986530371195211, + 2.0429026226550455 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -811.9688075317572, + 3.4865303711952107, + 2.0429026226550455 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -814.5668837431106, + 4.986530371195211, + 2.0429026226550455 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -817.1649599544639, + 6.486530371195211, + 2.0429026226550455 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -819.7630361658173, + 7.986530371195211, + 2.0429026226550455 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -822.3611123771707, + 9.48653037119521, + 2.0429026226550455 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991504 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -824.9591885885241, + 10.98653037119521, + 2.0429026226550455 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -827.5572647998774, + 12.48653037119521, + 2.0429026226550455 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -827.5572647998774, + 12.48653037119521, + 2.0429026226550455 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -830.5572647998774, + 12.48653037119521, + 2.0429026226550455 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -833.5572647998774, + 12.48653037119521, + 2.0429026226550455 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -834.8437512207031, + 12.72820457458496, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-9-37_1825051735/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-9-37_1825051735/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8cc6eb8960711f2e46cdd3b63c1c4620d9d603a8 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-9-37_1825051735/pose.jsonl @@ -0,0 +1,508 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 413.1127427060163, + -177.119361634832, + 2.3940296327192065 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 411.6127427060163, + -174.52128542347867, + 2.3940296327192065 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 410.1127427060163, + -171.92320921212536, + 2.3940296327192065 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 408.6127427060163, + -169.32513300077204, + 2.3940296327192065 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 407.1127427060163, + -166.72705678941873, + 2.3940296327192065 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 405.6127427060163, + -164.1289805780654, + 2.3940296327192065 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 404.1127427060163, + -161.5309043667121, + 2.3940296327192065 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 402.6127427060163, + -158.93282815535878, + 2.3940296327192065 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 401.1127427060163, + -156.33475194400546, + 2.3940296327192065 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 399.6127427060163, + -153.73667573265215, + 2.3940296327192065 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 398.1127427060163, + -151.13859952129883, + 2.3940296327192065 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 396.6127427060163, + -148.5405233099455, + 2.3940296327192065 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 395.1127427060163, + -145.9424470985922, + 2.3940296327192065 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 393.6127427060163, + -143.34437088723888, + 2.3940296327192065 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 392.1127427060163, + -140.74629467588557, + 2.3940296327192065 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 390.6127427060163, + -138.14821846453225, + 2.3940296327192065 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 389.1127427060163, + -135.55014225317893, + 2.3940296327192065 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 387.6127427060163, + -132.95206604182562, + 2.3940296327192065 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 386.1127427060163, + -130.3539898304723, + 2.3940296327192065 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 384.6127427060163, + -127.75591361911899, + 2.3940296327192065 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 383.1127427060163, + -125.15783740776567, + 2.3940296327192065 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 381.6127427060163, + -122.55976119641235, + 2.3940296327192065 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 380.1127427060163, + -119.96168498505904, + 2.3940296327192065 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 378.6127427060163, + -117.36360877370572, + 2.3940296327192065 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 377.1127427060163, + -114.7655325623524, + 2.3940296327192065 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 375.6127427060163, + -112.16745635099909, + 2.3940296327192065 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 374.1127427060163, + -109.56938013964577, + 2.3940296327192065 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 372.6127427060163, + -106.97130392829246, + 2.3940296327192065 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 371.1127427060163, + -104.37322771693914, + 2.3940296327192065 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 369.6127427060163, + -101.77515150558582, + 2.3940296327192065 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 368.1127427060163, + -99.17707529423251, + 2.3940296327192065 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 366.6127427060163, + -96.57899908287919, + 2.3940296327192065 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 365.1127427060163, + -93.98092287152588, + 2.3940296327192065 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 363.6127427060163, + -91.38284666017256, + 2.3940296327192065 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 363.6127427060163, + -91.38284666017256, + 2.3940296327192065 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 363.6127427060163, + -88.38284666017256, + 2.3940296327192065 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 363.6127427060163, + -85.38284666017256, + 2.3940296327192065 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 363.6127427060163, + -82.38284666017256, + 2.3940296327192065 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 361.61789932250974, + -80.46325607299805, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-11-54_1648440876/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-11-54_1648440876/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ceedcd1a34725baa6b3970bc75578b504f16abd9 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-11-54_1648440876/pose.jsonl @@ -0,0 +1,547 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -520.3698136451244, + 81.95757262221305, + -1.7591115767461614 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -522.9678898564778, + 80.45757262221305, + -1.7591115767461614 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -525.5659660678311, + 78.95757262221305, + -1.7591115767461614 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -528.1640422791845, + 77.45757262221305, + -1.7591115767461614 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -530.7621184905379, + 75.95757262221305, + -1.7591115767461614 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -533.3601947018913, + 74.45757262221305, + -1.7591115767461614 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -535.9582709132446, + 72.95757262221305, + -1.7591115767461614 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -538.556347124598, + 71.45757262221305, + -1.7591115767461614 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -541.1544233359514, + 69.95757262221305, + -1.7591115767461614 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -543.7524995473048, + 68.45757262221305, + -1.7591115767461614 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -546.3505757586581, + 66.95757262221305, + -1.7591115767461614 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -548.9486519700115, + 65.45757262221305, + -1.7591115767461614 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -551.5467281813649, + 63.95757262221305, + -1.7591115767461614 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -554.1448043927182, + 62.45757262221305, + -1.7591115767461614 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -556.7428806040716, + 60.95757262221305, + -1.7591115767461614 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -559.340956815425, + 59.45757262221305, + -1.7591115767461614 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -561.9390330267784, + 57.95757262221305, + -1.7591115767461614 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -564.5371092381317, + 56.45757262221305, + -1.7591115767461614 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -567.1351854494851, + 54.95757262221305, + -1.7591115767461614 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -569.7332616608385, + 53.45757262221305, + -1.7591115767461614 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -572.3313378721919, + 51.95757262221305, + -1.7591115767461614 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -574.9294140835452, + 50.45757262221305, + -1.7591115767461614 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -577.5274902948986, + 48.95757262221305, + -1.7591115767461614 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -577.5274902948986, + 48.95757262221305, + -1.7591115767461614 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -580.5274902948986, + 48.95757262221305, + -1.7591115767461614 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -583.5274902948986, + 48.95757262221305, + -1.7591115767461614 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -586.5274902948986, + 48.95757262221305, + -1.7591115767461614 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -589.5274902948986, + 48.95757262221305, + -1.7591115767461614 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -592.5274902948986, + 48.95757262221305, + -1.7591115767461614 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -595.5274902948986, + 48.95757262221305, + -1.7591115767461614 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -598.5274902948986, + 48.95757262221305, + -1.7591115767461614 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -601.5274902948986, + 48.95757262221305, + -1.7591115767461614 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -604.5274902948986, + 48.95757262221305, + -1.7591115767461614 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -607.5274902948986, + 48.95757262221305, + -1.7591115767461614 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -610.5274902948986, + 48.95757262221305, + -1.7591115767461614 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -613.5274902948986, + 48.95757262221305, + -1.7591115767461614 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -616.5274902948986, + 48.95757262221305, + -1.7591115767461614 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -619.5274902948986, + 48.95757262221305, + -1.7591115767461614 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -622.5274902948986, + 48.95757262221305, + -1.7591115767461614 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -625.5274902948986, + 48.95757262221305, + -1.7591115767461614 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -628.5274902948986, + 48.95757262221305, + -1.7591115767461614 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -629.9300636291504, + 48.19314208984375, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-12-49_2075548480/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-12-49_2075548480/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..625293c33c24c661968557acf5ff4b9340b5c072 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-12-49_2075548480/pose.jsonl @@ -0,0 +1,508 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -565.1816912764476, + 408.7946642743069, + -3.5283053962294266 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -566.6816912764476, + 411.3927404856602, + -3.5283053962294266 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -568.1816912764476, + 413.99081669701354, + -3.5283053962294266 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -569.6816912764476, + 416.58889290836686, + -3.5283053962294266 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -571.1816912764476, + 419.1869691197202, + -3.5283053962294266 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -572.6816912764476, + 421.7850453310735, + -3.5283053962294266 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -574.1816912764476, + 424.3831215424268, + -3.5283053962294266 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -575.6816912764476, + 426.9811977537801, + -3.5283053962294266 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -577.1816912764476, + 429.57927396513344, + -3.5283053962294266 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -578.6816912764476, + 432.17735017648675, + -3.5283053962294266 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -580.1816912764476, + 434.77542638784007, + -3.5283053962294266 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -581.6816912764476, + 437.3735025991934, + -3.5283053962294266 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -583.1816912764476, + 439.9715788105467, + -3.5283053962294266 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -584.6816912764476, + 442.5696550219, + -3.5283053962294266 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -586.1816912764476, + 445.16773123325333, + -3.5283053962294266 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -587.6816912764476, + 447.76580744460665, + -3.5283053962294266 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -589.1816912764476, + 450.36388365595997, + -3.5283053962294266 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -589.1816912764476, + 450.36388365595997, + -3.5283053962294266 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -591.7797674878009, + 451.86388365595997, + -3.5283053962294266 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -594.3778436991543, + 453.36388365595997, + -3.5283053962294266 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -596.9759199105076, + 454.86388365595997, + -3.5283053962294266 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -599.573996121861, + 456.36388365595997, + -3.5283053962294266 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -602.1720723332144, + 457.86388365595997, + -3.5283053962294266 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -604.7701485445677, + 459.36388365595997, + -3.5283053962294266 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -607.3682247559211, + 460.86388365595997, + -3.5283053962294266 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -609.9663009672745, + 462.36388365595997, + -3.5283053962294266 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -612.5643771786279, + 463.86388365595997, + -3.5283053962294266 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -615.1624533899812, + 465.36388365595997, + -3.5283053962294266 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -617.7605296013346, + 466.86388365595997, + -3.5283053962294266 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -620.358605812688, + 468.36388365595997, + -3.5283053962294266 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -622.9566820240414, + 469.86388365595997, + -3.5283053962294266 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -625.5547582353947, + 471.36388365595997, + -3.5283053962294266 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -628.1528344467481, + 472.86388365595997, + -3.5283053962294266 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -630.7509106581015, + 474.36388365595997, + -3.5283053962294266 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -633.3489868694548, + 475.86388365595997, + -3.5283053962294266 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -635.9470630808082, + 477.36388365595997, + -3.5283053962294266 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -635.9470630808082, + 477.36388365595997, + -3.5283053962294266 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -637.4470630808082, + 479.9619598673133, + -3.5283053962294266 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393205 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -639.5100476074218, + 482.8642652893066, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-13-28_1917957771/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-13-28_1917957771/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ead93ed9891d37cbec84ce0600f9b8fc91494f1d --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-13-28_1917957771/pose.jsonl @@ -0,0 +1,521 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -56.34799424885382, + -117.54521945220165, + 0.07793545189523954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -58.94607046020714, + -116.04521945220165, + 0.07793545189523954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -61.544146671560455, + -114.54521945220165, + 0.07793545189523954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -64.14222288291377, + -113.04521945220165, + 0.07793545189523954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -66.74029909426709, + -111.54521945220165, + 0.07793545189523954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -69.3383753056204, + -110.04521945220165, + 0.07793545189523954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -71.93645151697372, + -108.54521945220165, + 0.07793545189523954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -74.53452772832703, + -107.04521945220165, + 0.07793545189523954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -77.13260393968035, + -105.54521945220165, + 0.07793545189523954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -79.73068015103367, + -104.04521945220165, + 0.07793545189523954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -82.32875636238698, + -102.54521945220165, + 0.07793545189523954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -84.9268325737403, + -101.04521945220165, + 0.07793545189523954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -87.52490878509361, + -99.54521945220165, + 0.07793545189523954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -90.12298499644693, + -98.04521945220165, + 0.07793545189523954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -92.72106120780025, + -96.54521945220165, + 0.07793545189523954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -95.31913741915356, + -95.04521945220165, + 0.07793545189523954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -97.91721363050688, + -93.54521945220165, + 0.07793545189523954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -100.5152898418602, + -92.04521945220165, + 0.07793545189523954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -103.11336605321351, + -90.54521945220165, + 0.07793545189523954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -105.71144226456683, + -89.04521945220165, + 0.07793545189523954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -108.30951847592014, + -87.54521945220165, + 0.07793545189523954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -110.90759468727346, + -86.04521945220165, + 0.07793545189523954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -113.50567089862678, + -84.54521945220165, + 0.07793545189523954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -116.10374710998009, + -83.04521945220165, + 0.07793545189523954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -118.7018233213334, + -81.54521945220165, + 0.07793545189523954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -121.29989953268672, + -80.04521945220165, + 0.07793545189523954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -123.89797574404004, + -78.54521945220165, + 0.07793545189523954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -126.49605195539336, + -77.04521945220165, + 0.07793545189523954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -129.09412816674666, + -75.54521945220165, + 0.07793545189523954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991492 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -131.69220437809997, + -74.04521945220165, + 0.07793545189523954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -134.2902805894533, + -72.54521945220165, + 0.07793545189523954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -136.8883568008066, + -71.04521945220165, + 0.07793545189523954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -139.48643301215992, + -69.54521945220165, + 0.07793545189523954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -142.08450922351324, + -68.04521945220165, + 0.07793545189523954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -144.68258543486655, + -66.54521945220165, + 0.07793545189523954 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -144.68258543486655, + -66.54521945220165, + 0.07793545189523954 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -147.68258543486655, + -66.54521945220165, + 0.07793545189523954 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -150.68258543486655, + -66.54521945220165, + 0.07793545189523954 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -153.68258543486655, + -66.54521945220165, + 0.07793545189523954 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -156.47577671051025, + -64.65314291000367, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-15-28_489523515/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-15-28_489523515/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2b1b1bcb5dbf399d01bfa92ffad1c561c32e8c75 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-15-28_489523515/pose.jsonl @@ -0,0 +1,391 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -914.1037183017493, + 289.8737997019352, + 1.0998742296649056 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -911.1037183017493, + 289.8737997019352, + 1.0998742296649056 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -908.1037183017493, + 289.8737997019352, + 1.0998742296649056 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -905.1037183017493, + 289.8737997019352, + 1.0998742296649056 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -902.1037183017493, + 289.8737997019352, + 1.0998742296649056 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -899.1037183017493, + 289.8737997019352, + 1.0998742296649056 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -896.1037183017493, + 289.8737997019352, + 1.0998742296649056 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -893.1037183017493, + 289.8737997019352, + 1.0998742296649056 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -890.1037183017493, + 289.8737997019352, + 1.0998742296649056 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -887.1037183017493, + 289.8737997019352, + 1.0998742296649056 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -884.1037183017493, + 289.8737997019352, + 1.0998742296649056 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -881.1037183017493, + 289.8737997019352, + 1.0998742296649056 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -878.1037183017493, + 289.8737997019352, + 1.0998742296649056 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -875.1037183017493, + 289.8737997019352, + 1.0998742296649056 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -872.1037183017493, + 289.8737997019352, + 1.0998742296649056 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -869.1037183017493, + 289.8737997019352, + 1.0998742296649056 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -866.1037183017493, + 289.8737997019352, + 1.0998742296649056 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -863.1037183017493, + 289.8737997019352, + 1.0998742296649056 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -860.1037183017493, + 289.8737997019352, + 1.0998742296649056 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -857.1037183017493, + 289.8737997019352, + 1.0998742296649056 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -854.1037183017493, + 289.8737997019352, + 1.0998742296649056 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -851.1037183017493, + 289.8737997019352, + 1.0998742296649056 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -848.1037183017493, + 289.8737997019352, + 1.0998742296649056 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -845.1037183017493, + 289.8737997019352, + 1.0998742296649056 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -842.1037183017493, + 289.8737997019352, + 1.0998742296649056 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -839.1037183017493, + 289.8737997019352, + 1.0998742296649056 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -839.1037183017493, + 289.8737997019352, + 1.0998742296649056 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -836.5056420903959, + 288.3737997019352, + 1.0998742296649056 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -833.9075658790425, + 286.8737997019352, + 1.0998742296649056 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -802.5129748535156, + 284.37975662231446, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-17-3_1611416945/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-17-3_1611416945/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9e051e2fd0a33b6c1a250a6a735ccd35ae754580 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-17-3_1611416945/pose.jsonl @@ -0,0 +1,482 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -63.02595328492492, + -345.42558087034433, + -0.5810949235939873 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -61.52595328492492, + -342.827504658991, + -0.5810949235939873 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -60.02595328492492, + -340.2294284476377, + -0.5810949235939873 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -58.52595328492492, + -337.6313522362844, + -0.5810949235939873 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -57.02595328492492, + -335.03327602493107, + -0.5810949235939873 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -55.52595328492492, + -332.43519981357775, + -0.5810949235939873 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -54.02595328492492, + -329.83712360222444, + -0.5810949235939873 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -52.52595328492492, + -327.2390473908711, + -0.5810949235939873 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -51.02595328492492, + -324.6409711795178, + -0.5810949235939873 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -49.52595328492492, + -322.0428949681645, + -0.5810949235939873 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -48.02595328492492, + -319.4448187568112, + -0.5810949235939873 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -46.52595328492492, + -316.84674254545786, + -0.5810949235939873 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -45.02595328492492, + -314.24866633410454, + -0.5810949235939873 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -43.52595328492492, + -311.6505901227512, + -0.5810949235939873 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -42.02595328492492, + -309.0525139113979, + -0.5810949235939873 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -40.52595328492492, + -306.4544377000446, + -0.5810949235939873 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -39.02595328492492, + -303.8563614886913, + -0.5810949235939873 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -37.52595328492492, + -301.25828527733796, + -0.5810949235939873 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -36.02595328492492, + -298.66020906598465, + -0.5810949235939873 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -34.52595328492492, + -296.06213285463133, + -0.5810949235939873 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -33.02595328492492, + -293.464056643278, + -0.5810949235939873 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -31.525953284924917, + -290.8659804319247, + -0.5810949235939873 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -30.025953284924917, + -288.2679042205714, + -0.5810949235939873 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -28.525953284924917, + -285.66982800921807, + -0.5810949235939873 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -27.025953284924917, + -283.07175179786475, + -0.5810949235939873 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -25.525953284924917, + -280.47367558651143, + -0.5810949235939873 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -24.025953284924917, + -277.8755993751581, + -0.5810949235939873 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -22.525953284924917, + -275.2775231638048, + -0.5810949235939873 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -21.025953284924917, + -272.6794469524515, + -0.5810949235939873 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -19.525953284924917, + -270.08137074109817, + -0.5810949235939873 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -18.025953284924917, + -267.48329452974485, + -0.5810949235939873 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -16.525953284924917, + -264.88521831839154, + -0.5810949235939873 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -15.025953284924917, + -262.2871421070382, + -0.5810949235939873 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -13.525953284924917, + -259.6890658956849, + -0.5810949235939873 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -12.025953284924917, + -257.0909896843316, + -0.5810949235939873 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -10.525953284924917, + -254.49291347297827, + -0.5810949235939873 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -8.725501627922059, + -251.86730323791502, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-2-6_286289270/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-2-6_286289270/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2bbc0d5da83be2d3f991468c6f7ce9f62166972c --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-2-6_286289270/pose.jsonl @@ -0,0 +1,404 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 387.613403986001, + 626.3182744313118, + 1.8747444457991769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 389.113403986001, + 623.7201982199585, + 1.8747444457991769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 390.613403986001, + 621.1221220086052, + 1.8747444457991769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 392.113403986001, + 618.5240457972518, + 1.8747444457991769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 393.613403986001, + 615.9259695858984, + 1.8747444457991769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 395.113403986001, + 613.327893374545, + 1.8747444457991769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 396.613403986001, + 610.7298171631917, + 1.8747444457991769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 398.113403986001, + 608.1317409518383, + 1.8747444457991769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 399.613403986001, + 605.5336647404849, + 1.8747444457991769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 401.113403986001, + 602.9355885291316, + 1.8747444457991769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 402.613403986001, + 600.3375123177782, + 1.8747444457991769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 404.113403986001, + 597.7394361064248, + 1.8747444457991769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 405.613403986001, + 595.1413598950714, + 1.8747444457991769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 407.113403986001, + 592.5432836837181, + 1.8747444457991769 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 407.113403986001, + 592.5432836837181, + 1.8747444457991769 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 409.7114801973543, + 591.0432836837181, + 1.8747444457991769 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 412.30955640870764, + 589.5432836837181, + 1.8747444457991769 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 414.90763262006095, + 588.0432836837181, + 1.8747444457991769 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 417.50570883141427, + 586.5432836837181, + 1.8747444457991769 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 420.1037850427676, + 585.0432836837181, + 1.8747444457991769 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 422.7018612541209, + 583.5432836837181, + 1.8747444457991769 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 425.2999374654742, + 582.0432836837181, + 1.8747444457991769 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 427.89801367682753, + 580.5432836837181, + 1.8747444457991769 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 427.89801367682753, + 580.5432836837181, + 1.8747444457991769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 429.39801367682753, + 577.9452074723647, + 1.8747444457991769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 430.89801367682753, + 575.3471312610113, + 1.8747444457991769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 432.39801367682753, + 572.749055049658, + 1.8747444457991769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 433.89801367682753, + 570.1509788383046, + 1.8747444457991769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 435.39801367682753, + 567.5529026269512, + 1.8747444457991769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 436.89801367682753, + 564.9548264155978, + 1.8747444457991769 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 439.84950744628907, + 563.3985629272461, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-23-40_509643566/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-23-40_509643566/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..59efd218e3171612577dca91667d294b598eb062 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-23-40_509643566/pose.jsonl @@ -0,0 +1,352 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -718.7350912611834, + 54.15237397587183, + -1.3273102863038666 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -721.3331674725366, + 55.65237397587183, + -1.3273102863038666 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -723.93124368389, + 57.15237397587183, + -1.3273102863038666 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -726.5293198952434, + 58.65237397587183, + -1.3273102863038666 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -729.1273961065967, + 60.15237397587183, + -1.3273102863038666 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -731.7254723179501, + 61.65237397587183, + -1.3273102863038666 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -734.3235485293035, + 63.15237397587183, + -1.3273102863038666 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -736.9216247406569, + 64.65237397587182, + -1.3273102863038666 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991506 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -739.5197009520102, + 66.15237397587182, + -1.3273102863038666 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -742.1177771633636, + 67.65237397587182, + -1.3273102863038666 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -744.715853374717, + 69.15237397587182, + -1.3273102863038666 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -747.3139295860703, + 70.65237397587182, + -1.3273102863038666 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -749.9120057974237, + 72.15237397587182, + -1.3273102863038666 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -752.5100820087771, + 73.65237397587182, + -1.3273102863038666 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -755.1081582201305, + 75.15237397587182, + -1.3273102863038666 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -757.7062344314838, + 76.65237397587182, + -1.3273102863038666 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -760.3043106428372, + 78.15237397587182, + -1.3273102863038666 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -762.9023868541906, + 79.65237397587182, + -1.3273102863038666 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -765.500463065544, + 81.15237397587182, + -1.3273102863038666 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -765.500463065544, + 81.15237397587182, + -1.3273102863038666 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -768.500463065544, + 81.15237397587182, + -1.3273102863038666 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -771.500463065544, + 81.15237397587182, + -1.3273102863038666 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -774.500463065544, + 81.15237397587182, + -1.3273102863038666 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -777.500463065544, + 81.15237397587182, + -1.3273102863038666 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -780.500463065544, + 81.15237397587182, + -1.3273102863038666 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -783.500463065544, + 81.15237397587182, + -1.3273102863038666 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -785.9369680786133, + 81.05284317016601, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-26-16_1589988539/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-26-16_1589988539/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c387dc2720969a704b9dc24a0dd9ab13d28417f7 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-26-16_1589988539/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -748.2337955706364, + 95.09565088433155, + -4.285967075632085 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -746.7337955706364, + 92.49757467297823, + -4.285967075632085 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -745.2337955706364, + 89.89949846162492, + -4.285967075632085 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -743.7337955706364, + 87.3014222502716, + -4.285967075632085 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -742.2337955706364, + 84.70334603891828, + -4.285967075632085 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -740.7337955706364, + 82.10526982756497, + -4.285967075632085 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -739.2337955706364, + 79.50719361621165, + -4.285967075632085 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -737.7337955706364, + 76.90911740485834, + -4.285967075632085 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -736.2337955706364, + 74.31104119350502, + -4.285967075632085 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -734.7337955706364, + 71.7129649821517, + -4.285967075632085 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -733.2337955706364, + 69.11488877079839, + -4.285967075632085 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -731.7337955706364, + 66.51681255944507, + -4.285967075632085 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -731.7337955706364, + 66.51681255944507, + -4.285967075632085 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -731.7337955706364, + 63.51681255944507, + -4.285967075632085 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -731.7337955706364, + 60.51681255944507, + -4.285967075632085 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -731.7337955706364, + 57.51681255944507, + -4.285967075632085 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -731.7337955706364, + 54.51681255944507, + -4.285967075632085 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -731.7337955706364, + 51.51681255944507, + -4.285967075632085 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -731.7337955706364, + 48.51681255944507, + -4.285967075632085 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -731.7337955706364, + 45.51681255944507, + -4.285967075632085 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -731.7337955706364, + 42.51681255944507, + -4.285967075632085 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -731.7337955706364, + 39.51681255944507, + -4.285967075632085 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -731.7337955706364, + 36.51681255944507, + -4.285967075632085 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -731.7337955706364, + 33.51681255944507, + -4.285967075632085 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -731.7337955706364, + 30.51681255944507, + -4.285967075632085 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -731.7337955706364, + 27.51681255944507, + -4.285967075632085 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -731.7337955706364, + 24.51681255944507, + -4.285967075632085 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -731.5441055297852, + 23.07341537475586, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-27-3_1461722172/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-27-3_1461722172/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..56b1f030a0d5beae3b3f2d2cee85c5f881a2fb5e --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-27-3_1461722172/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -894.7698779872366, + 396.4381655062014, + -4.461535100113062 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -896.2698779872366, + 393.8400892948481, + -4.461535100113062 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -897.7698779872366, + 391.2420130834948, + -4.461535100113062 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -899.2698779872366, + 388.64393687214147, + -4.461535100113062 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -900.7698779872366, + 386.04586066078815, + -4.461535100113062 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -902.2698779872366, + 383.44778444943483, + -4.461535100113062 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -903.7698779872366, + 380.8497082380815, + -4.461535100113062 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -905.2698779872366, + 378.2516320267282, + -4.461535100113062 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -906.7698779872366, + 375.6535558153749, + -4.461535100113062 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -908.2698779872366, + 373.05547960402157, + -4.461535100113062 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -909.7698779872366, + 370.45740339266825, + -4.461535100113062 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -911.2698779872366, + 367.85932718131494, + -4.461535100113062 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -912.7698779872366, + 365.2612509699616, + -4.461535100113062 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -914.2698779872366, + 362.6631747586083, + -4.461535100113062 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -915.7698779872366, + 360.065098547255, + -4.461535100113062 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -917.2698779872366, + 357.4670223359017, + -4.461535100113062 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -918.7698779872366, + 354.86894612454836, + -4.461535100113062 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -920.2698779872366, + 352.27086991319504, + -4.461535100113062 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -921.7698779872366, + 349.6727937018417, + -4.461535100113062 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -921.7698779872366, + 349.6727937018417, + -4.461535100113062 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -924.3679541985898, + 348.1727937018417, + -4.461535100113062 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -926.9660304099432, + 346.6727937018417, + -4.461535100113062 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -929.5641066212966, + 345.1727937018417, + -4.461535100113062 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -932.1621828326499, + 343.6727937018417, + -4.461535100113062 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -934.7602590440033, + 342.1727937018417, + -4.461535100113062 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -937.3583352553567, + 340.6727937018417, + -4.461535100113062 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -939.95641146671, + 339.1727937018417, + -4.461535100113062 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -942.5730328369141, + 336.42247901916505, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-29-30_840048586/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-29-30_840048586/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..22ce41f2dfd7fd03a0f83ba7695e635241e7d898 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-29-30_840048586/pose.jsonl @@ -0,0 +1,534 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -692.8076695481531, + 131.7515771141974, + 4.760932578721405 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -692.8076695481531, + 134.7515771141974, + 4.760932578721405 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -692.8076695481531, + 137.7515771141974, + 4.760932578721405 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -692.8076695481531, + 140.7515771141974, + 4.760932578721405 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -692.8076695481531, + 143.7515771141974, + 4.760932578721405 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -692.8076695481531, + 146.7515771141974, + 4.760932578721405 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -692.8076695481531, + 149.7515771141974, + 4.760932578721405 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -692.8076695481531, + 152.7515771141974, + 4.760932578721405 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -692.8076695481531, + 155.7515771141974, + 4.760932578721405 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -692.8076695481531, + 158.7515771141974, + 4.760932578721405 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -692.8076695481531, + 161.7515771141974, + 4.760932578721405 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -692.8076695481531, + 164.7515771141974, + 4.760932578721405 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -692.8076695481531, + 167.7515771141974, + 4.760932578721405 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -692.8076695481531, + 170.7515771141974, + 4.760932578721405 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -692.8076695481531, + 173.7515771141974, + 4.760932578721405 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -692.8076695481531, + 176.7515771141974, + 4.760932578721405 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -692.8076695481531, + 179.7515771141974, + 4.760932578721405 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -692.8076695481531, + 182.7515771141974, + 4.760932578721405 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -692.8076695481531, + 185.7515771141974, + 4.760932578721405 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -692.8076695481531, + 188.7515771141974, + 4.760932578721405 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -692.8076695481531, + 191.7515771141974, + 4.760932578721405 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -692.8076695481531, + 194.7515771141974, + 4.760932578721405 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -692.8076695481531, + 197.7515771141974, + 4.760932578721405 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -692.8076695481531, + 200.7515771141974, + 4.760932578721405 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -692.8076695481531, + 203.7515771141974, + 4.760932578721405 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -692.8076695481531, + 206.7515771141974, + 4.760932578721405 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -692.8076695481531, + 209.7515771141974, + 4.760932578721405 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -692.8076695481531, + 212.7515771141974, + 4.760932578721405 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -692.8076695481531, + 215.7515771141974, + 4.760932578721405 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -692.8076695481531, + 218.7515771141974, + 4.760932578721405 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -692.8076695481531, + 221.7515771141974, + 4.760932578721405 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -692.8076695481531, + 224.7515771141974, + 4.760932578721405 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -692.8076695481531, + 227.7515771141974, + 4.760932578721405 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -692.8076695481531, + 227.7515771141974, + 4.760932578721405 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -692.8076695481531, + 227.7515771141974, + 4.760932578721405 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -695.4057457595063, + 229.2515771141974, + 4.760932578721405 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -698.0038219708597, + 230.7515771141974, + 4.760932578721405 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -700.6018981822131, + 232.2515771141974, + 4.760932578721405 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -703.1999743935664, + 233.7515771141974, + 4.760932578721405 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -705.7980506049198, + 235.2515771141974, + 4.760932578721405 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -707.2679043579102, + 238.37122535705566, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-36-38_7155895/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-36-38_7155895/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d9a214ff3898902b48deeb6fd55df48c099e5428 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-36-38_7155895/pose.jsonl @@ -0,0 +1,547 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -34.00700986111774, + 256.39126761716255, + -4.839119211496365 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -32.50700986111774, + 253.79319140580924, + -4.839119211496365 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -31.007009861117737, + 251.19511519445592, + -4.839119211496365 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -29.507009861117737, + 248.5970389831026, + -4.839119211496365 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -28.007009861117737, + 245.9989627717493, + -4.839119211496365 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -26.507009861117737, + 243.40088656039597, + -4.839119211496365 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -25.007009861117737, + 240.80281034904266, + -4.839119211496365 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -23.507009861117737, + 238.20473413768934, + -4.839119211496365 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -22.007009861117737, + 235.60665792633603, + -4.839119211496365 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -20.507009861117737, + 233.0085817149827, + -4.839119211496365 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -19.007009861117737, + 230.4105055036294, + -4.839119211496365 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -17.507009861117737, + 227.81242929227608, + -4.839119211496365 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -16.007009861117737, + 225.21435308092276, + -4.839119211496365 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -14.507009861117737, + 222.61627686956945, + -4.839119211496365 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -13.007009861117737, + 220.01820065821613, + -4.839119211496365 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -11.507009861117737, + 217.42012444686281, + -4.839119211496365 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -10.007009861117737, + 214.8220482355095, + -4.839119211496365 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -8.507009861117737, + 212.22397202415618, + -4.839119211496365 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -7.007009861117737, + 209.62589581280287, + -4.839119211496365 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -5.507009861117737, + 207.02781960144955, + -4.839119211496365 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -4.007009861117737, + 204.42974339009623, + -4.839119211496365 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2.5070098611177367, + 201.83166717874292, + -4.839119211496365 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1.0070098611177363, + 199.2335909673896, + -4.839119211496365 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 0.4929901388822642, + 196.6355147560363, + -4.839119211496365 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1.9929901388822646, + 194.03743854468297, + -4.839119211496365 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 3.492990138882265, + 191.43936233332965, + -4.839119211496365 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 4.9929901388822655, + 188.84128612197634, + -4.839119211496365 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 6.492990138882266, + 186.24320991062302, + -4.839119211496365 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965974 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 7.992990138882266, + 183.6451336992697, + -4.839119211496365 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 9.492990138882266, + 181.0470574879164, + -4.839119211496365 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 10.992990138882266, + 178.44898127656307, + -4.839119211496365 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 12.492990138882266, + 175.85090506520976, + -4.839119211496365 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 12.492990138882266, + 175.85090506520976, + -4.839119211496365 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 15.091066350235582, + 174.35090506520976, + -4.839119211496365 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 17.6891425615889, + 172.85090506520976, + -4.839119211496365 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 20.287218772942214, + 171.35090506520976, + -4.839119211496365 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 22.88529498429553, + 169.85090506520976, + -4.839119211496365 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 25.483371195648846, + 168.35090506520976, + -4.839119211496365 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 28.081447407002162, + 166.85090506520976, + -4.839119211496365 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 30.67952361835548, + 165.35090506520976, + -4.839119211496365 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 33.27759982970879, + 163.85090506520976, + -4.839119211496365 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 36.64368785858154, + 161.94002262115478, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-37-44_870923556/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-37-44_870923556/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8cb7ab0f2a4b05ae324ccf4a9d2e0b710a693643 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-37-44_870923556/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -659.1484507934139, + 43.45225001208945, + 4.330774180860468 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -661.7465270047671, + 41.95225001208945, + 4.330774180860468 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -664.3446032161205, + 40.45225001208945, + 4.330774180860468 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -666.9426794274739, + 38.95225001208945, + 4.330774180860468 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -669.5407556388272, + 37.45225001208945, + 4.330774180860468 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -672.1388318501806, + 35.95225001208945, + 4.330774180860468 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -674.736908061534, + 34.45225001208945, + 4.330774180860468 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -677.3349842728874, + 32.95225001208945, + 4.330774180860468 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -679.9330604842407, + 31.45225001208945, + 4.330774180860468 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -682.5311366955941, + 29.95225001208945, + 4.330774180860468 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -685.1292129069475, + 28.45225001208945, + 4.330774180860468 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -687.7272891183009, + 26.95225001208945, + 4.330774180860468 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -690.3253653296542, + 25.45225001208945, + 4.330774180860468 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -692.9234415410076, + 23.95225001208945, + 4.330774180860468 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -695.521517752361, + 22.45225001208945, + 4.330774180860468 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -695.521517752361, + 22.45225001208945, + 4.330774180860468 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -698.521517752361, + 22.45225001208945, + 4.330774180860468 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -701.521517752361, + 22.45225001208945, + 4.330774180860468 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -704.521517752361, + 22.45225001208945, + 4.330774180860468 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -707.521517752361, + 22.45225001208945, + 4.330774180860468 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -710.521517752361, + 22.45225001208945, + 4.330774180860468 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -713.521517752361, + 22.45225001208945, + 4.330774180860468 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -716.521517752361, + 22.45225001208945, + 4.330774180860468 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -719.521517752361, + 22.45225001208945, + 4.330774180860468 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -722.521517752361, + 22.45225001208945, + 4.330774180860468 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -725.521517752361, + 22.45225001208945, + 4.330774180860468 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -728.521517752361, + 22.45225001208945, + 4.330774180860468 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -731.5441055297852, + 23.07341537475586, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-39-59_866396003/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-39-59_866396003/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..48a1296aefbd8c8aa0728a990667eb02ef5fd32f --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-39-59_866396003/pose.jsonl @@ -0,0 +1,469 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -215.19699484555105, + -551.8502073548229, + -3.122581611480129 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -213.69699484555105, + -549.2521311434696, + -3.122581611480129 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -212.19699484555105, + -546.6540549321162, + -3.122581611480129 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -210.69699484555105, + -544.0559787207628, + -3.122581611480129 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -209.19699484555105, + -541.4579025094095, + -3.122581611480129 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -207.69699484555105, + -538.8598262980561, + -3.122581611480129 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -206.19699484555105, + -536.2617500867027, + -3.122581611480129 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -204.69699484555105, + -533.6636738753493, + -3.122581611480129 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -203.19699484555105, + -531.065597663996, + -3.122581611480129 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -201.69699484555105, + -528.4675214526426, + -3.122581611480129 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -200.19699484555105, + -525.8694452412892, + -3.122581611480129 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -198.69699484555105, + -523.2713690299358, + -3.122581611480129 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -197.19699484555105, + -520.6732928185825, + -3.122581611480129 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -195.69699484555105, + -518.0752166072291, + -3.122581611480129 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -194.19699484555105, + -515.4771403958757, + -3.122581611480129 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -192.69699484555105, + -512.8790641845223, + -3.122581611480129 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -191.19699484555105, + -510.28098797316903, + -3.122581611480129 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -189.69699484555105, + -507.6829117618157, + -3.122581611480129 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -188.19699484555105, + -505.0848355504624, + -3.122581611480129 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -186.69699484555105, + -502.4867593391091, + -3.122581611480129 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -185.19699484555105, + -499.88868312775577, + -3.122581611480129 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -183.69699484555105, + -497.29060691640245, + -3.122581611480129 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -182.19699484555105, + -494.69253070504914, + -3.122581611480129 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -180.69699484555105, + -492.0944544936958, + -3.122581611480129 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -179.19699484555105, + -489.4963782823425, + -3.122581611480129 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -179.19699484555105, + -489.4963782823425, + -3.122581611480129 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -179.19699484555105, + -486.4963782823425, + -3.122581611480129 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -179.19699484555105, + -483.4963782823425, + -3.122581611480129 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -179.19699484555105, + -480.4963782823425, + -3.122581611480129 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -179.19699484555105, + -477.4963782823425, + -3.122581611480129 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -179.19699484555105, + -474.4963782823425, + -3.122581611480129 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -179.19699484555105, + -471.4963782823425, + -3.122581611480129 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -179.19699484555105, + -471.4963782823425, + -3.122581611480129 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -179.19699484555105, + -471.4963782823425, + -3.122581611480129 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -176.59891863419773, + -469.9963782823425, + -3.122581611480129 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982989 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -175.02334197998047, + -467.78616867065426, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-40-59_2142447450/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-40-59_2142447450/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..eb1d59dc6a3ba5ccac00504f1cb384710be58521 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-40-59_2142447450/pose.jsonl @@ -0,0 +1,352 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -206.01540955593413, + -342.16658452851277, + 3.3907402419662525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -206.01540955593413, + -345.16658452851277, + 3.3907402419662525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -206.01540955593413, + -348.16658452851277, + 3.3907402419662525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -206.01540955593413, + -351.16658452851277, + 3.3907402419662525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -206.01540955593413, + -354.16658452851277, + 3.3907402419662525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -206.01540955593413, + -357.16658452851277, + 3.3907402419662525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -206.01540955593413, + -360.16658452851277, + 3.3907402419662525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -206.01540955593413, + -363.16658452851277, + 3.3907402419662525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -206.01540955593413, + -366.16658452851277, + 3.3907402419662525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -206.01540955593413, + -369.16658452851277, + 3.3907402419662525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -206.01540955593413, + -372.16658452851277, + 3.3907402419662525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -206.01540955593413, + -375.16658452851277, + 3.3907402419662525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -206.01540955593413, + -378.16658452851277, + 3.3907402419662525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -206.01540955593413, + -381.16658452851277, + 3.3907402419662525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -206.01540955593413, + -384.16658452851277, + 3.3907402419662525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -206.01540955593413, + -387.16658452851277, + 3.3907402419662525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -206.01540955593413, + -390.16658452851277, + 3.3907402419662525 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -206.01540955593413, + -390.16658452851277, + 3.3907402419662525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -207.51540955593413, + -392.7646607398661, + 3.3907402419662525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -209.01540955593413, + -395.3627369512194, + 3.3907402419662525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -210.51540955593413, + -397.9608131625727, + 3.3907402419662525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -212.01540955593413, + -400.55888937392604, + 3.3907402419662525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -213.51540955593413, + -403.15696558527935, + 3.3907402419662525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -215.01540955593413, + -405.75504179663267, + 3.3907402419662525 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -215.01540955593413, + -405.75504179663267, + 3.3907402419662525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -215.01540955593413, + -408.75504179663267, + 3.3907402419662525 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -215.0078338623047, + -412.48035171508786, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-41-56_1187427397/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-41-56_1187427397/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4507596a9878be03d40c3c6bcba5cd528dd660af --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-41-56_1187427397/pose.jsonl @@ -0,0 +1,391 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -696.1654746083369, + 314.40266081438904, + -1.68215562944218 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -696.1654746083369, + 311.40266081438904, + -1.68215562944218 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -696.1654746083369, + 308.40266081438904, + -1.68215562944218 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -696.1654746083369, + 305.40266081438904, + -1.68215562944218 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -696.1654746083369, + 302.40266081438904, + -1.68215562944218 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -696.1654746083369, + 299.40266081438904, + -1.68215562944218 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -696.1654746083369, + 296.40266081438904, + -1.68215562944218 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -696.1654746083369, + 293.40266081438904, + -1.68215562944218 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -696.1654746083369, + 290.40266081438904, + -1.68215562944218 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -696.1654746083369, + 287.40266081438904, + -1.68215562944218 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -696.1654746083369, + 284.40266081438904, + -1.68215562944218 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -696.1654746083369, + 281.40266081438904, + -1.68215562944218 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -696.1654746083369, + 278.40266081438904, + -1.68215562944218 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -696.1654746083369, + 275.40266081438904, + -1.68215562944218 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -696.1654746083369, + 272.40266081438904, + -1.68215562944218 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -696.1654746083369, + 269.40266081438904, + -1.68215562944218 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -696.1654746083369, + 266.40266081438904, + -1.68215562944218 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -696.1654746083369, + 263.40266081438904, + -1.68215562944218 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -696.1654746083369, + 260.40266081438904, + -1.68215562944218 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -696.1654746083369, + 257.40266081438904, + -1.68215562944218 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -696.1654746083369, + 254.40266081438904, + -1.68215562944218 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -696.1654746083369, + 251.40266081438904, + -1.68215562944218 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -696.1654746083369, + 248.40266081438904, + -1.68215562944218 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -696.1654746083369, + 245.40266081438904, + -1.68215562944218 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -696.1654746083369, + 245.40266081438904, + -1.68215562944218 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -697.6654746083369, + 242.80458460303572, + -1.68215562944218 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -699.1654746083369, + 240.2065083916824, + -1.68215562944218 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -700.6654746083369, + 237.6084321803291, + -1.68215562944218 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -702.1654746083369, + 235.01035596897577, + -1.68215562944218 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -701.839137878418, + 232.52609245300292, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-44-11_291169347/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-44-11_291169347/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6656a56d5afb1a53f52f0256ba7fbeacc5b974f3 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-44-11_291169347/pose.jsonl @@ -0,0 +1,482 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 129.20720219361962, + 117.01832206405567, + 2.5980635637018024 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 126.6091259822663, + 118.51832206405567, + 2.5980635637018024 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 124.01104977091299, + 120.01832206405567, + 2.5980635637018024 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 121.41297355955967, + 121.51832206405567, + 2.5980635637018024 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 118.81489734820636, + 123.01832206405567, + 2.5980635637018024 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 116.21682113685304, + 124.51832206405567, + 2.5980635637018024 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 113.61874492549973, + 126.01832206405567, + 2.5980635637018024 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 111.02066871414641, + 127.51832206405567, + 2.5980635637018024 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 108.4225925027931, + 129.01832206405567, + 2.5980635637018024 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 105.82451629143978, + 130.51832206405567, + 2.5980635637018024 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 103.22644008008646, + 132.01832206405567, + 2.5980635637018024 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 100.62836386873315, + 133.51832206405567, + 2.5980635637018024 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 98.03028765737983, + 135.01832206405567, + 2.5980635637018024 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 95.43221144602651, + 136.51832206405567, + 2.5980635637018024 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 92.8341352346732, + 138.01832206405567, + 2.5980635637018024 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 90.23605902331988, + 139.51832206405567, + 2.5980635637018024 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 87.63798281196657, + 141.01832206405567, + 2.5980635637018024 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 85.03990660061325, + 142.51832206405567, + 2.5980635637018024 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 82.44183038925993, + 144.01832206405567, + 2.5980635637018024 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 79.84375417790662, + 145.51832206405567, + 2.5980635637018024 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 77.2456779665533, + 147.01832206405567, + 2.5980635637018024 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 74.64760175519999, + 148.51832206405567, + 2.5980635637018024 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 72.04952554384667, + 150.01832206405567, + 2.5980635637018024 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 69.45144933249335, + 151.51832206405567, + 2.5980635637018024 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 66.85337312114004, + 153.01832206405567, + 2.5980635637018024 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 64.25529690978672, + 154.51832206405567, + 2.5980635637018024 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 61.657220698433406, + 156.01832206405567, + 2.5980635637018024 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 59.05914448708009, + 157.51832206405567, + 2.5980635637018024 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 56.461068275726774, + 159.01832206405567, + 2.5980635637018024 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 53.86299206437346, + 160.51832206405567, + 2.5980635637018024 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 51.26491585302014, + 162.01832206405567, + 2.5980635637018024 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 51.26491585302014, + 162.01832206405567, + 2.5980635637018024 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 48.26491585302014, + 162.01832206405567, + 2.5980635637018024 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 45.26491585302014, + 162.01832206405567, + 2.5980635637018024 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 42.26491585302014, + 162.01832206405567, + 2.5980635637018024 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 39.26491585302014, + 162.01832206405567, + 2.5980635637018024 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 36.64368785858154, + 161.94002262115478, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-45-24_1880074537/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-45-24_1880074537/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bd9bc15be43e193b1e7f70cd4043bdce9d2cc117 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-45-24_1880074537/pose.jsonl @@ -0,0 +1,456 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -764.1367589625328, + 162.74939448822792, + -3.6148344994840262 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -762.6367589625328, + 165.34747069958124, + -3.6148344994840262 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -761.1367589625328, + 167.94554691093455, + -3.6148344994840262 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -759.6367589625328, + 170.54362312228787, + -3.6148344994840262 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -758.1367589625328, + 173.14169933364118, + -3.6148344994840262 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -756.6367589625328, + 175.7397755449945, + -3.6148344994840262 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -755.1367589625328, + 178.33785175634782, + -3.6148344994840262 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -753.6367589625328, + 180.93592796770113, + -3.6148344994840262 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -752.1367589625328, + 183.53400417905445, + -3.6148344994840262 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -750.6367589625328, + 186.13208039040776, + -3.6148344994840262 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -749.1367589625328, + 188.73015660176108, + -3.6148344994840262 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -747.6367589625328, + 191.3282328131144, + -3.6148344994840262 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -746.1367589625328, + 193.9263090244677, + -3.6148344994840262 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -744.6367589625328, + 196.52438523582103, + -3.6148344994840262 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -743.1367589625328, + 199.12246144717435, + -3.6148344994840262 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -741.6367589625328, + 201.72053765852766, + -3.6148344994840262 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -740.1367589625328, + 204.31861386988098, + -3.6148344994840262 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -738.6367589625328, + 206.9166900812343, + -3.6148344994840262 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -737.1367589625328, + 209.5147662925876, + -3.6148344994840262 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -735.6367589625328, + 212.11284250394093, + -3.6148344994840262 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -734.1367589625328, + 214.71091871529424, + -3.6148344994840262 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -732.6367589625328, + 217.30899492664756, + -3.6148344994840262 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -731.1367589625328, + 219.90707113800087, + -3.6148344994840262 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -729.6367589625328, + 222.5051473493542, + -3.6148344994840262 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -728.1367589625328, + 225.1032235607075, + -3.6148344994840262 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -726.6367589625328, + 227.70129977206082, + -3.6148344994840262 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -726.6367589625328, + 227.70129977206082, + -3.6148344994840262 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -724.0386827511795, + 229.20129977206082, + -3.6148344994840262 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -721.4406065398261, + 230.70129977206082, + -3.6148344994840262 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -718.8425303284728, + 232.20129977206082, + -3.6148344994840262 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -716.2444541171194, + 233.70129977206082, + -3.6148344994840262 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -713.646377905766, + 235.20129977206082, + -3.6148344994840262 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -711.0483016944127, + 236.70129977206082, + -3.6148344994840262 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -708.4502254830593, + 238.20129977206082, + -3.6148344994840262 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -707.2679043579102, + 238.37122535705566, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-48-6_168420696/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-48-6_168420696/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fe35c9fafde4d5ab715d2be3948bffacfae787c6 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-48-6_168420696/pose.jsonl @@ -0,0 +1,352 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 417.53641772486014, + 23.53388461292461, + -3.7584539698515673 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 414.53641772486014, + 23.53388461292461, + -3.7584539698515673 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 411.53641772486014, + 23.53388461292461, + -3.7584539698515673 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 408.53641772486014, + 23.53388461292461, + -3.7584539698515673 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 405.53641772486014, + 23.53388461292461, + -3.7584539698515673 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 402.53641772486014, + 23.53388461292461, + -3.7584539698515673 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 399.53641772486014, + 23.53388461292461, + -3.7584539698515673 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 396.53641772486014, + 23.53388461292461, + -3.7584539698515673 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 393.53641772486014, + 23.53388461292461, + -3.7584539698515673 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 390.53641772486014, + 23.53388461292461, + -3.7584539698515673 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 387.53641772486014, + 23.53388461292461, + -3.7584539698515673 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 384.53641772486014, + 23.53388461292461, + -3.7584539698515673 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 381.53641772486014, + 23.53388461292461, + -3.7584539698515673 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 378.53641772486014, + 23.53388461292461, + -3.7584539698515673 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 375.53641772486014, + 23.53388461292461, + -3.7584539698515673 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 372.53641772486014, + 23.53388461292461, + -3.7584539698515673 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 369.53641772486014, + 23.53388461292461, + -3.7584539698515673 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 366.53641772486014, + 23.53388461292461, + -3.7584539698515673 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 366.53641772486014, + 23.53388461292461, + -3.7584539698515673 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 363.9383415135068, + 25.03388461292461, + -3.7584539698515673 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 361.3402653021535, + 26.53388461292461, + -3.7584539698515673 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 358.7421890908002, + 28.03388461292461, + -3.7584539698515673 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 356.1441128794469, + 29.53388461292461, + -3.7584539698515673 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 353.54603666809356, + 31.03388461292461, + -3.7584539698515673 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 350.94796045674025, + 32.53388461292461, + -3.7584539698515673 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 348.34988424538693, + 34.03388461292461, + -3.7584539698515673 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 344.9839593505859, + 35.070869789123535, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-55-24_1001271361/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-55-24_1001271361/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a59ed57d8eb3ac608f71b545d0d1fe53820cb737 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-55-24_1001271361/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -788.1483620402188, + 122.20913972426261, + 1.611157918935417 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -785.1483620402188, + 122.20913972426261, + 1.611157918935417 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -782.1483620402188, + 122.20913972426261, + 1.611157918935417 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -779.1483620402188, + 122.20913972426261, + 1.611157918935417 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -776.1483620402188, + 122.20913972426261, + 1.611157918935417 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -773.1483620402188, + 122.20913972426261, + 1.611157918935417 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -770.1483620402188, + 122.20913972426261, + 1.611157918935417 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -767.1483620402188, + 122.20913972426261, + 1.611157918935417 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -764.1483620402188, + 122.20913972426261, + 1.611157918935417 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -761.1483620402188, + 122.20913972426261, + 1.611157918935417 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -758.1483620402188, + 122.20913972426261, + 1.611157918935417 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -755.1483620402188, + 122.20913972426261, + 1.611157918935417 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -752.1483620402188, + 122.20913972426261, + 1.611157918935417 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -749.1483620402188, + 122.20913972426261, + 1.611157918935417 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -746.1483620402188, + 122.20913972426261, + 1.611157918935417 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -743.1483620402188, + 122.20913972426261, + 1.611157918935417 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -740.1483620402188, + 122.20913972426261, + 1.611157918935417 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -737.1483620402188, + 122.20913972426261, + 1.611157918935417 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -737.1483620402188, + 122.20913972426261, + 1.611157918935417 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -734.5502858288655, + 123.70913972426261, + 1.611157918935417 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -731.9522096175122, + 125.20913972426261, + 1.611157918935417 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -729.3541334061588, + 126.70913972426261, + 1.611157918935417 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -726.7560571948054, + 128.2091397242626, + 1.611157918935417 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -726.8706622314453, + 130.96456672668458, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-57-39_962564682/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-57-39_962564682/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..06b28da691c8f7f52777874865dde32ad0dc5e44 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-57-39_962564682/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -229.30175437640034, + -502.055573771533, + -1.4261032527289825 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -227.80175437640034, + -499.45749756017966, + -1.4261032527289825 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -226.30175437640034, + -496.85942134882634, + -1.4261032527289825 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -226.30175437640034, + -496.85942134882634, + -1.4261032527289825 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -223.70367816504702, + -495.35942134882634, + -1.4261032527289825 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -221.1056019536937, + -493.85942134882634, + -1.4261032527289825 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -218.5075257423404, + -492.35942134882634, + -1.4261032527289825 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -215.90944953098708, + -490.85942134882634, + -1.4261032527289825 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -213.31137331963376, + -489.35942134882634, + -1.4261032527289825 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -210.71329710828044, + -487.85942134882634, + -1.4261032527289825 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -208.11522089692713, + -486.35942134882634, + -1.4261032527289825 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -205.5171446855738, + -484.85942134882634, + -1.4261032527289825 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -202.9190684742205, + -483.35942134882634, + -1.4261032527289825 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -200.32099226286718, + -481.85942134882634, + -1.4261032527289825 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -197.72291605151386, + -480.35942134882634, + -1.4261032527289825 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -195.12483984016055, + -478.85942134882634, + -1.4261032527289825 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -192.52676362880723, + -477.35942134882634, + -1.4261032527289825 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -189.92868741745392, + -475.85942134882634, + -1.4261032527289825 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -187.3306112061006, + -474.35942134882634, + -1.4261032527289825 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -184.73253499474728, + -472.85942134882634, + -1.4261032527289825 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -182.13445878339397, + -471.35942134882634, + -1.4261032527289825 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -179.53638257204065, + -469.85942134882634, + -1.4261032527289825 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -176.93830636068733, + -468.35942134882634, + -1.4261032527289825 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -175.02334197998047, + -467.78616867065426, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-59-46_1942739003/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-59-46_1942739003/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7169fa3c5c16a6a10a28ca3f1c6f6875d2cba37a --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-59-46_1942739003/pose.jsonl @@ -0,0 +1,118 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 479.9110502007921, + 393.86937316935825, + 1.070520782830739 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 482.9110502007921, + 393.86937316935825, + 1.070520782830739 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 485.9110502007921, + 393.86937316935825, + 1.070520782830739 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 488.9110502007921, + 393.86937316935825, + 1.070520782830739 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 491.9110502007921, + 393.86937316935825, + 1.070520782830739 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 491.9110502007921, + 393.86937316935825, + 1.070520782830739 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 494.5091264121454, + 395.36937316935825, + 1.070520782830739 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 497.1072026234987, + 396.86937316935825, + 1.070520782830739 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 560.3580831909179, + 412.7992530822754, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-7-30_73407063/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-7-30_73407063/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ba300b9c573abad5f94ac1f200409f04e2fccda9 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-7-30_73407063/pose.jsonl @@ -0,0 +1,417 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -880.0953181140954, + 77.41511387109198, + -1.599583617073673 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -878.5953181140954, + 74.81703765973866, + -1.599583617073673 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -877.0953181140954, + 72.21896144838534, + -1.599583617073673 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -875.5953181140954, + 69.62088523703203, + -1.599583617073673 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -874.0953181140954, + 67.02280902567871, + -1.599583617073673 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -872.5953181140954, + 64.4247328143254, + -1.599583617073673 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -871.0953181140954, + 61.82665660297208, + -1.599583617073673 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -869.5953181140954, + 59.22858039161876, + -1.599583617073673 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -868.0953181140954, + 56.63050418026545, + -1.599583617073673 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -866.5953181140954, + 54.03242796891213, + -1.599583617073673 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -865.0953181140954, + 51.434351757558815, + -1.599583617073673 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -863.5953181140954, + 48.8362755462055, + -1.599583617073673 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -862.0953181140954, + 46.23819933485218, + -1.599583617073673 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -860.5953181140954, + 43.64012312349887, + -1.599583617073673 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -859.0953181140954, + 41.04204691214555, + -1.599583617073673 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -857.5953181140954, + 38.443970700792235, + -1.599583617073673 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -856.0953181140954, + 35.84589448943892, + -1.599583617073673 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -854.5953181140954, + 33.2478182780856, + -1.599583617073673 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -854.5953181140954, + 33.2478182780856, + -1.599583617073673 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -851.9972419027422, + 31.747818278085603, + -1.599583617073673 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -849.3991656913888, + 30.247818278085603, + -1.599583617073673 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -846.8010894800354, + 28.747818278085603, + -1.599583617073673 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -844.2030132686821, + 27.247818278085603, + -1.599583617073673 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -841.6049370573287, + 25.747818278085603, + -1.599583617073673 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -839.0068608459753, + 24.247818278085603, + -1.599583617073673 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -836.408784634622, + 22.747818278085603, + -1.599583617073673 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -833.8107084232686, + 21.247818278085603, + -1.599583617073673 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -831.2126322119152, + 19.747818278085603, + -1.599583617073673 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -828.6145560005618, + 18.247818278085603, + -1.599583617073673 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -826.0164797892085, + 16.747818278085603, + -1.599583617073673 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -823.4184035778551, + 15.247818278085603, + -1.599583617073673 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -821.0513497924804, + 12.496731524467467, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-9-46_1470558289/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-9-46_1470558289/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bfa5367eb50cbeaa109c41a028d756719ef79b43 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-9-46_1470558289/pose.jsonl @@ -0,0 +1,443 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -235.63239514324368, + -385.70893751728, + 1.1494245876227467 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -238.63239514324368, + -385.70893751728, + 1.1494245876227467 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -241.63239514324368, + -385.70893751728, + 1.1494245876227467 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -244.63239514324368, + -385.70893751728, + 1.1494245876227467 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -247.63239514324368, + -385.70893751728, + 1.1494245876227467 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -250.63239514324368, + -385.70893751728, + 1.1494245876227467 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -253.63239514324368, + -385.70893751728, + 1.1494245876227467 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -256.6323951432437, + -385.70893751728, + 1.1494245876227467 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -259.6323951432437, + -385.70893751728, + 1.1494245876227467 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -262.6323951432437, + -385.70893751728, + 1.1494245876227467 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -265.6323951432437, + -385.70893751728, + 1.1494245876227467 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -268.6323951432437, + -385.70893751728, + 1.1494245876227467 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -271.6323951432437, + -385.70893751728, + 1.1494245876227467 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -274.6323951432437, + -385.70893751728, + 1.1494245876227467 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -277.6323951432437, + -385.70893751728, + 1.1494245876227467 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -280.6323951432437, + -385.70893751728, + 1.1494245876227467 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -283.6323951432437, + -385.70893751728, + 1.1494245876227467 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -286.6323951432437, + -385.70893751728, + 1.1494245876227467 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -289.6323951432437, + -385.70893751728, + 1.1494245876227467 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -292.6323951432437, + -385.70893751728, + 1.1494245876227467 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -295.6323951432437, + -385.70893751728, + 1.1494245876227467 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -298.6323951432437, + -385.70893751728, + 1.1494245876227467 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -301.6323951432437, + -385.70893751728, + 1.1494245876227467 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -304.6323951432437, + -385.70893751728, + 1.1494245876227467 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -307.6323951432437, + -385.70893751728, + 1.1494245876227467 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -307.6323951432437, + -385.70893751728, + 1.1494245876227467 + ], + "type": "turn left", + "value": 30, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -307.6323951432437, + -385.70893751728, + 1.1494245876227467 + ], + "type": "go straight", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -309.1323951432437, + -388.3070137286333, + 1.1494245876227467 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -310.6323951432437, + -390.9050899399866, + 1.1494245876227467 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -312.1323951432437, + -393.50316615133994, + 1.1494245876227467 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -313.6323951432437, + -396.10124236269326, + 1.1494245876227467 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -315.1323951432437, + -398.6993185740466, + 1.1494245876227467 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -316.6323951432437, + -401.2973947853999, + 1.1494245876227467 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -319.6267106628418, + -403.69195602416994, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_11-0-43_883401305/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_11-0-43_883401305/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c5861f83618dac3f6cb6e8137536d8b7a65da90a --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_11-0-43_883401305/pose.jsonl @@ -0,0 +1,404 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -175.4396687265203, + 41.70390517421649, + 2.0672374442848254 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -178.0377449378736, + 40.20390517421649, + 2.0672374442848254 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -180.63582114922693, + 38.70390517421649, + 2.0672374442848254 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -183.23389736058024, + 37.20390517421649, + 2.0672374442848254 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -185.83197357193356, + 35.70390517421649, + 2.0672374442848254 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -188.43004978328688, + 34.20390517421649, + 2.0672374442848254 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -191.0281259946402, + 32.70390517421649, + 2.0672374442848254 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -193.6262022059935, + 31.203905174216487, + 2.0672374442848254 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -196.22427841734682, + 29.703905174216487, + 2.0672374442848254 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -198.82235462870014, + 28.203905174216487, + 2.0672374442848254 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -201.42043084005346, + 26.703905174216487, + 2.0672374442848254 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -204.01850705140677, + 25.203905174216487, + 2.0672374442848254 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -206.6165832627601, + 23.703905174216487, + 2.0672374442848254 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -209.2146594741134, + 22.203905174216487, + 2.0672374442848254 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -211.81273568546672, + 20.703905174216487, + 2.0672374442848254 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -214.41081189682004, + 19.203905174216487, + 2.0672374442848254 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -217.00888810817335, + 17.703905174216487, + 2.0672374442848254 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -219.60696431952667, + 16.203905174216487, + 2.0672374442848254 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -222.20504053087998, + 14.703905174216487, + 2.0672374442848254 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -224.8031167422333, + 13.203905174216487, + 2.0672374442848254 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -227.40119295358662, + 11.703905174216487, + 2.0672374442848254 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -227.40119295358662, + 11.703905174216487, + 2.0672374442848254 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -228.90119295358662, + 9.105828962863171, + 2.0672374442848254 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -230.40119295358662, + 6.507752751509855, + 2.0672374442848254 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -231.90119295358662, + 3.909676540156539, + 2.0672374442848254 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -233.40119295358662, + 1.3116003288032232, + 2.0672374442848254 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -234.90119295358662, + -1.2864758825500928, + 2.0672374442848254 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -236.40119295358662, + -3.884552093903409, + 2.0672374442848254 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -237.90119295358662, + -6.482628305256725, + 2.0672374442848254 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -239.40119295358662, + -9.08070451661004, + 2.0672374442848254 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -242.29689208984374, + -10.230338129997254, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_11-0-58_1424415507/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_11-0-58_1424415507/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d791d889b3202a10603689a3c5a0a027f8cef1e9 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_11-0-58_1424415507/pose.jsonl @@ -0,0 +1,274 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -737.4613454395046, + 208.21634094659456, + 4.763944464229736 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -734.8632692281512, + 209.71634094659456, + 4.763944464229736 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -732.2651930167979, + 211.21634094659456, + 4.763944464229736 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -729.6671168054445, + 212.71634094659456, + 4.763944464229736 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -727.0690405940911, + 214.21634094659456, + 4.763944464229736 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -724.4709643827377, + 215.71634094659456, + 4.763944464229736 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -721.8728881713844, + 217.21634094659456, + 4.763944464229736 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -719.274811960031, + 218.71634094659456, + 4.763944464229736 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -716.6767357486776, + 220.21634094659456, + 4.763944464229736 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -714.0786595373243, + 221.71634094659456, + 4.763944464229736 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -711.4805833259709, + 223.21634094659456, + 4.763944464229736 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -708.8825071146175, + 224.71634094659456, + 4.763944464229736 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -706.2844309032641, + 226.21634094659456, + 4.763944464229736 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -703.6863546919108, + 227.71634094659456, + 4.763944464229736 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -701.0882784805574, + 229.21634094659456, + 4.763944464229736 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -698.490202269204, + 230.71634094659456, + 4.763944464229736 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -695.8921260578506, + 232.21634094659456, + 4.763944464229736 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -693.2940498464973, + 233.71634094659456, + 4.763944464229736 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -690.6959736351439, + 235.21634094659456, + 4.763944464229736 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -688.0978974237905, + 236.71634094659456, + 4.763944464229736 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -684.7201055908203, + 237.53857521057128, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_11-1-39_38199531/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_11-1-39_38199531/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..04fe5f0d5a0d039547ebbe650b3c7f4e645b7dbc --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_11-1-39_38199531/pose.jsonl @@ -0,0 +1,417 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -750.3241836339704, + 158.13432713730498, + 4.878199311735331 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -748.8241836339704, + 160.7324033486583, + 4.878199311735331 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -747.3241836339704, + 163.3304795600116, + 4.878199311735331 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -745.8241836339704, + 165.92855577136493, + 4.878199311735331 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -744.3241836339704, + 168.52663198271824, + 4.878199311735331 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -742.8241836339704, + 171.12470819407156, + 4.878199311735331 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -741.3241836339704, + 173.72278440542487, + 4.878199311735331 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -739.8241836339704, + 176.3208606167782, + 4.878199311735331 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -738.3241836339704, + 178.9189368281315, + 4.878199311735331 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -736.8241836339704, + 181.51701303948482, + 4.878199311735331 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -735.3241836339704, + 184.11508925083814, + 4.878199311735331 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -733.8241836339704, + 186.71316546219145, + 4.878199311735331 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -732.3241836339704, + 189.31124167354477, + 4.878199311735331 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -730.8241836339704, + 191.9093178848981, + 4.878199311735331 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -729.3241836339704, + 194.5073940962514, + 4.878199311735331 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -727.8241836339704, + 197.10547030760472, + 4.878199311735331 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -726.3241836339704, + 199.70354651895803, + 4.878199311735331 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -724.8241836339704, + 202.30162273031135, + 4.878199311735331 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -723.3241836339704, + 204.89969894166467, + 4.878199311735331 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -721.8241836339704, + 207.49777515301798, + 4.878199311735331 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -720.3241836339704, + 210.0958513643713, + 4.878199311735331 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -718.8241836339704, + 212.69392757572462, + 4.878199311735331 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -717.3241836339704, + 215.29200378707793, + 4.878199311735331 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -715.8241836339704, + 217.89007999843125, + 4.878199311735331 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -714.3241836339704, + 220.48815620978456, + 4.878199311735331 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -712.8241836339704, + 223.08623242113788, + 4.878199311735331 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -711.3241836339704, + 225.6843086324912, + 4.878199311735331 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -709.8241836339704, + 228.2823848438445, + 4.878199311735331 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -708.3241836339704, + 230.88046105519783, + 4.878199311735331 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -706.8241836339704, + 233.47853726655114, + 4.878199311735331 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -705.3241836339704, + 236.07661347790446, + 4.878199311735331 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -707.2679043579102, + 238.37122535705566, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_11-11-22_768356649/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_11-11-22_768356649/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b29ddd6e7df519383d47bca45f15733396363ef7 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_11-11-22_768356649/pose.jsonl @@ -0,0 +1,352 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -992.8267389668911, + 283.3850625808686, + 1.076517319414152 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -991.3267389668911, + 285.9831387922219, + 1.076517319414152 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -989.8267389668911, + 288.5812150035752, + 1.076517319414152 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -988.3267389668911, + 291.1792912149285, + 1.076517319414152 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -986.8267389668911, + 293.77736742628184, + 1.076517319414152 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -985.3267389668911, + 296.37544363763516, + 1.076517319414152 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -983.8267389668911, + 298.9735198489885, + 1.076517319414152 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -982.3267389668911, + 301.5715960603418, + 1.076517319414152 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -980.8267389668911, + 304.1696722716951, + 1.076517319414152 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -979.3267389668911, + 306.7677484830484, + 1.076517319414152 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -977.8267389668911, + 309.36582469440174, + 1.076517319414152 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -976.3267389668911, + 311.96390090575505, + 1.076517319414152 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -974.8267389668911, + 314.56197711710837, + 1.076517319414152 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -973.3267389668911, + 317.1600533284617, + 1.076517319414152 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -971.8267389668911, + 319.758129539815, + 1.076517319414152 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -971.8267389668911, + 319.758129539815, + 1.076517319414152 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -969.2286627555377, + 321.258129539815, + 1.076517319414152 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -966.6305865441843, + 322.758129539815, + 1.076517319414152 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -964.032510332831, + 324.258129539815, + 1.076517319414152 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -961.4344341214776, + 325.758129539815, + 1.076517319414152 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -958.8363579101242, + 327.258129539815, + 1.076517319414152 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -956.2382816987708, + 328.758129539815, + 1.076517319414152 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -953.6402054874175, + 330.258129539815, + 1.076517319414152 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -951.0421292760641, + 331.758129539815, + 1.076517319414152 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -948.4440530647107, + 333.258129539815, + 1.076517319414152 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -945.8459768533573, + 334.758129539815, + 1.076517319414152 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -942.5730328369141, + 336.42247901916505, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_11-18-17_289924554/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_11-18-17_289924554/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a08c09b1d2a3ae3cb9c0930575bb86404715a0cc --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_11-18-17_289924554/pose.jsonl @@ -0,0 +1,404 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -729.2194300316617, + 320.59911854969545, + 1.4485733992817886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -729.2194300316617, + 317.59911854969545, + 1.4485733992817886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -729.2194300316617, + 314.59911854969545, + 1.4485733992817886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -729.2194300316617, + 311.59911854969545, + 1.4485733992817886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -729.2194300316617, + 308.59911854969545, + 1.4485733992817886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -729.2194300316617, + 305.59911854969545, + 1.4485733992817886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -729.2194300316617, + 302.59911854969545, + 1.4485733992817886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -729.2194300316617, + 299.59911854969545, + 1.4485733992817886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -729.2194300316617, + 296.59911854969545, + 1.4485733992817886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -729.2194300316617, + 293.59911854969545, + 1.4485733992817886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -729.2194300316617, + 290.59911854969545, + 1.4485733992817886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -729.2194300316617, + 287.59911854969545, + 1.4485733992817886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -729.2194300316617, + 284.59911854969545, + 1.4485733992817886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -729.2194300316617, + 281.59911854969545, + 1.4485733992817886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -729.2194300316617, + 278.59911854969545, + 1.4485733992817886 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -729.2194300316617, + 278.59911854969545, + 1.4485733992817886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -727.7194300316617, + 276.00104233834213, + 1.4485733992817886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -726.2194300316617, + 273.4029661269888, + 1.4485733992817886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -724.7194300316617, + 270.8048899156355, + 1.4485733992817886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -723.2194300316617, + 268.2068137042822, + 1.4485733992817886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -721.7194300316617, + 265.60873749292887, + 1.4485733992817886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -720.2194300316617, + 263.01066128157555, + 1.4485733992817886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -718.7194300316617, + 260.41258507022224, + 1.4485733992817886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -717.2194300316617, + 257.8145088588689, + 1.4485733992817886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -715.7194300316617, + 255.2164326475156, + 1.4485733992817886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -714.2194300316617, + 252.6183564361623, + 1.4485733992817886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -712.7194300316617, + 250.02028022480897, + 1.4485733992817886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -711.2194300316617, + 247.42220401345566, + 1.4485733992817886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -709.7194300316617, + 244.82412780210234, + 1.4485733992817886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -708.2194300316617, + 242.22605159074902, + 1.4485733992817886 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -707.2679043579102, + 238.37122535705566, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_11-2-58_1244683190/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_11-2-58_1244683190/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d1da37c090c5608a7d168e13ba5a2b62fc395342 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_11-2-58_1244683190/pose.jsonl @@ -0,0 +1,391 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -115.1374994191275, + -520.8557694903487, + 0.1582382754908762 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -117.73557563048081, + -519.3557694903487, + 0.1582382754908762 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -120.33365184183413, + -517.8557694903487, + 0.1582382754908762 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -122.93172805318744, + -516.3557694903487, + 0.1582382754908762 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -125.52980426454076, + -514.8557694903487, + 0.1582382754908762 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -128.12788047589407, + -513.3557694903487, + 0.1582382754908762 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -130.7259566872474, + -511.85576949034873, + 0.1582382754908762 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -133.3240328986007, + -510.35576949034873, + 0.1582382754908762 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -135.92210910995402, + -508.85576949034873, + 0.1582382754908762 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -138.52018532130734, + -507.35576949034873, + 0.1582382754908762 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -141.11826153266065, + -505.85576949034873, + 0.1582382754908762 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -143.71633774401397, + -504.35576949034873, + 0.1582382754908762 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -146.31441395536729, + -502.85576949034873, + 0.1582382754908762 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -148.9124901667206, + -501.35576949034873, + 0.1582382754908762 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -151.51056637807392, + -499.85576949034873, + 0.1582382754908762 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -154.10864258942723, + -498.35576949034873, + 0.1582382754908762 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -156.70671880078055, + -496.85576949034873, + 0.1582382754908762 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -156.70671880078055, + -496.85576949034873, + 0.1582382754908762 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -158.20671880078055, + -494.2576932789954, + 0.1582382754908762 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -159.70671880078055, + -491.6596170676421, + 0.1582382754908762 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -161.20671880078055, + -489.0615408562888, + 0.1582382754908762 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -162.70671880078055, + -486.46346464493547, + 0.1582382754908762 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -164.20671880078055, + -483.86538843358215, + 0.1582382754908762 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -165.70671880078055, + -481.26731222222884, + 0.1582382754908762 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -167.20671880078055, + -478.6692360108755, + 0.1582382754908762 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -168.70671880078055, + -476.0711597995222, + 0.1582382754908762 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -170.20671880078055, + -473.4730835881689, + 0.1582382754908762 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -171.70671880078055, + -470.8750073768156, + 0.1582382754908762 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -173.20671880078055, + -468.27693116546226, + 0.1582382754908762 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -175.02334197998047, + -467.78616867065426, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_11-25-31_444995154/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_11-25-31_444995154/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..feefab0189bf8ef43aeea35cf2805970d0b70f0b --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_11-25-31_444995154/pose.jsonl @@ -0,0 +1,521 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 233.83912066360477, + -225.3617728003955, + -4.008861371183423 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 231.24104445225146, + -226.8617728003955, + -4.008861371183423 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 228.64296824089814, + -228.3617728003955, + -4.008861371183423 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 226.04489202954483, + -229.8617728003955, + -4.008861371183423 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 223.4468158181915, + -231.3617728003955, + -4.008861371183423 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 220.8487396068382, + -232.8617728003955, + -4.008861371183423 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 218.25066339548488, + -234.3617728003955, + -4.008861371183423 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 215.65258718413156, + -235.8617728003955, + -4.008861371183423 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 213.05451097277825, + -237.3617728003955, + -4.008861371183423 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 210.45643476142493, + -238.8617728003955, + -4.008861371183423 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 207.8583585500716, + -240.3617728003955, + -4.008861371183423 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 205.2602823387183, + -241.8617728003955, + -4.008861371183423 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 202.66220612736498, + -243.3617728003955, + -4.008861371183423 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 200.06412991601167, + -244.8617728003955, + -4.008861371183423 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 197.46605370465835, + -246.3617728003955, + -4.008861371183423 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 194.86797749330503, + -247.8617728003955, + -4.008861371183423 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 192.26990128195172, + -249.3617728003955, + -4.008861371183423 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 189.6718250705984, + -250.8617728003955, + -4.008861371183423 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 187.0737488592451, + -252.3617728003955, + -4.008861371183423 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 184.47567264789177, + -253.8617728003955, + -4.008861371183423 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 184.47567264789177, + -253.8617728003955, + -4.008861371183423 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 182.97567264789177, + -256.4598490117488, + -4.008861371183423 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 181.47567264789177, + -259.05792522310213, + -4.008861371183423 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 179.97567264789177, + -261.65600143445545, + -4.008861371183423 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 178.47567264789177, + -264.25407764580876, + -4.008861371183423 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 176.97567264789177, + -266.8521538571621, + -4.008861371183423 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 175.47567264789177, + -269.4502300685154, + -4.008861371183423 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 173.97567264789177, + -272.0483062798687, + -4.008861371183423 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 172.47567264789177, + -274.646382491222, + -4.008861371183423 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 170.97567264789177, + -277.24445870257534, + -4.008861371183423 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 169.47567264789177, + -279.84253491392866, + -4.008861371183423 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 167.97567264789177, + -282.440611125282, + -4.008861371183423 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 166.47567264789177, + -285.0386873366353, + -4.008861371183423 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 164.97567264789177, + -287.6367635479886, + -4.008861371183423 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 163.47567264789177, + -290.2348397593419, + -4.008861371183423 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 161.97567264789177, + -292.83291597069524, + -4.008861371183423 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 160.47567264789177, + -295.43099218204856, + -4.008861371183423 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 158.97567264789177, + -298.02906839340187, + -4.008861371183423 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 157.47567264789177, + -300.6271446047552, + -4.008861371183423 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 156.50516716003418, + -301.9973617553711, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_11-3-32_726181851/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_11-3-32_726181851/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a03c9a42f6dfcf63940d99003d6fcf90f7ac45f7 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_11-3-32_726181851/pose.jsonl @@ -0,0 +1,508 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -633.3417478306465, + 265.8020351655169, + -0.3757974203142673 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -630.7436716192931, + 264.3020351655169, + -0.3757974203142673 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -628.1455954079397, + 262.8020351655169, + -0.3757974203142673 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -625.5475191965863, + 261.3020351655169, + -0.3757974203142673 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -622.949442985233, + 259.8020351655169, + -0.3757974203142673 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -620.3513667738796, + 258.3020351655169, + -0.3757974203142673 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -617.7532905625262, + 256.8020351655169, + -0.3757974203142673 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -615.1552143511728, + 255.30203516551688, + -0.3757974203142673 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -612.5571381398195, + 253.80203516551688, + -0.3757974203142673 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -609.9590619284661, + 252.30203516551688, + -0.3757974203142673 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -607.3609857171127, + 250.80203516551688, + -0.3757974203142673 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -604.7629095057594, + 249.30203516551688, + -0.3757974203142673 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -602.164833294406, + 247.80203516551688, + -0.3757974203142673 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -599.5667570830526, + 246.30203516551688, + -0.3757974203142673 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -596.9686808716992, + 244.80203516551688, + -0.3757974203142673 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -594.3706046603459, + 243.30203516551688, + -0.3757974203142673 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -591.7725284489925, + 241.80203516551688, + -0.3757974203142673 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -589.1744522376391, + 240.30203516551688, + -0.3757974203142673 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -586.5763760262857, + 238.80203516551688, + -0.3757974203142673 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -583.9782998149324, + 237.30203516551688, + -0.3757974203142673 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -581.380223603579, + 235.80203516551688, + -0.3757974203142673 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -578.7821473922256, + 234.30203516551688, + -0.3757974203142673 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -576.1840711808723, + 232.80203516551688, + -0.3757974203142673 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -573.5859949695189, + 231.30203516551688, + -0.3757974203142673 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -570.9879187581655, + 229.80203516551688, + -0.3757974203142673 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -568.3898425468121, + 228.30203516551688, + -0.3757974203142673 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -565.7917663354588, + 226.80203516551688, + -0.3757974203142673 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -563.1936901241054, + 225.30203516551688, + -0.3757974203142673 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -560.595613912752, + 223.80203516551688, + -0.3757974203142673 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -560.595613912752, + 223.80203516551688, + -0.3757974203142673 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -559.095613912752, + 221.20395895416357, + -0.3757974203142673 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -557.595613912752, + 218.60588274281025, + -0.3757974203142673 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -556.095613912752, + 216.00780653145694, + -0.3757974203142673 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -554.595613912752, + 213.40973032010362, + -0.3757974203142673 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -553.095613912752, + 210.8116541087503, + -0.3757974203142673 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -551.595613912752, + 208.213577897397, + -0.3757974203142673 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -550.095613912752, + 205.61550168604367, + -0.3757974203142673 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -548.595613912752, + 203.01742547469036, + -0.3757974203142673 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -547.9009985351562, + 200.65022193908692, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_11-35-2_760582799/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_11-35-2_760582799/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3ebfe8face00ef1b655107119b3053f0970e3346 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_11-35-2_760582799/pose.jsonl @@ -0,0 +1,495 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 26.665598875448307, + 791.3827352310411, + 4.971004122511573 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 25.165598875448307, + 788.7846590196878, + 4.971004122511573 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 23.665598875448307, + 786.1865828083344, + 4.971004122511573 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 22.165598875448307, + 783.588506596981, + 4.971004122511573 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 20.665598875448307, + 780.9904303856276, + 4.971004122511573 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 19.165598875448307, + 778.3923541742743, + 4.971004122511573 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 17.665598875448307, + 775.7942779629209, + 4.971004122511573 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 16.165598875448307, + 773.1962017515675, + 4.971004122511573 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 14.665598875448307, + 770.5981255402141, + 4.971004122511573 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 13.165598875448307, + 768.0000493288608, + 4.971004122511573 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 11.665598875448307, + 765.4019731175074, + 4.971004122511573 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 10.165598875448307, + 762.803896906154, + 4.971004122511573 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 8.665598875448307, + 760.2058206948007, + 4.971004122511573 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 7.165598875448308, + 757.6077444834473, + 4.971004122511573 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 5.665598875448309, + 755.0096682720939, + 4.971004122511573 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 4.1655988754483095, + 752.4115920607405, + 4.971004122511573 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 2.6655988754483104, + 749.8135158493872, + 4.971004122511573 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1.165598875448311, + 747.2154396380338, + 4.971004122511573 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -0.33440112455168824, + 744.6173634266804, + 4.971004122511573 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1.8344011245516876, + 742.019287215327, + 4.971004122511573 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -3.334401124551687, + 739.4212110039737, + 4.971004122511573 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -4.834401124551686, + 736.8231347926203, + 4.971004122511573 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -6.334401124551685, + 734.2250585812669, + 4.971004122511573 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -6.334401124551685, + 734.2250585812669, + 4.971004122511573 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -6.334401124551685, + 731.2250585812669, + 4.971004122511573 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -6.334401124551685, + 728.2250585812669, + 4.971004122511573 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -6.334401124551685, + 725.2250585812669, + 4.971004122511573 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -6.334401124551685, + 722.2250585812669, + 4.971004122511573 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -6.334401124551685, + 719.2250585812669, + 4.971004122511573 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -6.334401124551685, + 716.2250585812669, + 4.971004122511573 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -6.334401124551685, + 713.2250585812669, + 4.971004122511573 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -6.334401124551685, + 710.2250585812669, + 4.971004122511573 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -6.334401124551685, + 707.2250585812669, + 4.971004122511573 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -6.334401124551685, + 704.2250585812669, + 4.971004122511573 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -6.334401124551685, + 701.2250585812669, + 4.971004122511573 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -6.334401124551685, + 698.2250585812669, + 4.971004122511573 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -6.334401124551685, + 695.2250585812669, + 4.971004122511573 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -5.930885200500488, + 691.5702409362793, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_11-39-39_316321813/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_11-39-39_316321813/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5b2cde82cc542ceefbb246826b5eaca1d67f9033 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_11-39-39_316321813/pose.jsonl @@ -0,0 +1,586 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -806.382940059563, + 201.52713354302654, + 4.966070933347371 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -803.382940059563, + 201.52713354302654, + 4.966070933347371 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -800.382940059563, + 201.52713354302654, + 4.966070933347371 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -797.382940059563, + 201.52713354302654, + 4.966070933347371 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -794.382940059563, + 201.52713354302654, + 4.966070933347371 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -791.382940059563, + 201.52713354302654, + 4.966070933347371 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -788.382940059563, + 201.52713354302654, + 4.966070933347371 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -785.382940059563, + 201.52713354302654, + 4.966070933347371 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -782.382940059563, + 201.52713354302654, + 4.966070933347371 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -779.382940059563, + 201.52713354302654, + 4.966070933347371 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -776.382940059563, + 201.52713354302654, + 4.966070933347371 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -773.382940059563, + 201.52713354302654, + 4.966070933347371 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -770.382940059563, + 201.52713354302654, + 4.966070933347371 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -767.382940059563, + 201.52713354302654, + 4.966070933347371 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -764.382940059563, + 201.52713354302654, + 4.966070933347371 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -761.382940059563, + 201.52713354302654, + 4.966070933347371 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -758.382940059563, + 201.52713354302654, + 4.966070933347371 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -755.382940059563, + 201.52713354302654, + 4.966070933347371 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -752.382940059563, + 201.52713354302654, + 4.966070933347371 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -752.382940059563, + 201.52713354302654, + 4.966070933347371 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -749.7848638482096, + 203.02713354302654, + 4.966070933347371 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -749.7848638482096, + 203.02713354302654, + 4.966070933347371 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -748.2848638482096, + 205.62520975437985, + 4.966070933347371 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -746.7848638482096, + 208.22328596573317, + 4.966070933347371 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -745.2848638482096, + 210.82136217708648, + 4.966070933347371 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -743.7848638482096, + 213.4194383884398, + 4.966070933347371 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -743.7848638482096, + 213.4194383884398, + 4.966070933347371 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -741.1867876368563, + 214.9194383884398, + 4.966070933347371 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -738.5887114255029, + 216.4194383884398, + 4.966070933347371 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -735.9906352141495, + 217.9194383884398, + 4.966070933347371 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -733.3925590027961, + 219.4194383884398, + 4.966070933347371 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -730.7944827914428, + 220.9194383884398, + 4.966070933347371 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -728.1964065800894, + 222.4194383884398, + 4.966070933347371 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -725.598330368736, + 223.9194383884398, + 4.966070933347371 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -723.0002541573826, + 225.4194383884398, + 4.966070933347371 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -720.4021779460293, + 226.9194383884398, + 4.966070933347371 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -717.8041017346759, + 228.4194383884398, + 4.966070933347371 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -715.2060255233225, + 229.9194383884398, + 4.966070933347371 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -712.6079493119692, + 231.4194383884398, + 4.966070933347371 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -710.0098731006158, + 232.9194383884398, + 4.966070933347371 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -707.4117968892624, + 234.4194383884398, + 4.966070933347371 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -707.4117968892624, + 234.4194383884398, + 4.966070933347371 + ], + "type": "turn right", + "value": 30, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -707.4117968892624, + 234.4194383884398, + 4.966070933347371 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983083 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -704.813720677909, + 232.9194383884398, + 4.966070933347371 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755983083 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -701.839137878418, + 232.52609245300292, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_11-45-3_2059472633/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_11-45-3_2059472633/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8d1272ba80192145d803af80e376109ef52bb40b --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_11-45-3_2059472633/pose.jsonl @@ -0,0 +1,443 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -841.9454479643429, + 103.04657581915578, + -3.386363432912863 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -840.4454479643429, + 100.44849960780246, + -3.386363432912863 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -838.9454479643429, + 97.85042339644914, + -3.386363432912863 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -837.4454479643429, + 95.25234718509583, + -3.386363432912863 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -835.9454479643429, + 92.65427097374251, + -3.386363432912863 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -834.4454479643429, + 90.0561947623892, + -3.386363432912863 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -832.9454479643429, + 87.45811855103588, + -3.386363432912863 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -831.4454479643429, + 84.86004233968256, + -3.386363432912863 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -829.9454479643429, + 82.26196612832925, + -3.386363432912863 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -828.4454479643429, + 79.66388991697593, + -3.386363432912863 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -826.9454479643429, + 77.06581370562262, + -3.386363432912863 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -825.4454479643429, + 74.4677374942693, + -3.386363432912863 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -823.9454479643429, + 71.86966128291598, + -3.386363432912863 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -822.4454479643429, + 69.27158507156267, + -3.386363432912863 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -820.9454479643429, + 66.67350886020935, + -3.386363432912863 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -820.9454479643429, + 66.67350886020935, + -3.386363432912863 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -820.9454479643429, + 63.67350886020935, + -3.386363432912863 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -820.9454479643429, + 60.67350886020935, + -3.386363432912863 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -820.9454479643429, + 57.67350886020935, + -3.386363432912863 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -820.9454479643429, + 54.67350886020935, + -3.386363432912863 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -820.9454479643429, + 51.67350886020935, + -3.386363432912863 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -820.9454479643429, + 48.67350886020935, + -3.386363432912863 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -820.9454479643429, + 45.67350886020935, + -3.386363432912863 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -820.9454479643429, + 42.67350886020935, + -3.386363432912863 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -820.9454479643429, + 39.67350886020935, + -3.386363432912863 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -820.9454479643429, + 36.67350886020935, + -3.386363432912863 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -820.9454479643429, + 33.67350886020935, + -3.386363432912863 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -820.9454479643429, + 30.673508860209353, + -3.386363432912863 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -820.9454479643429, + 27.673508860209353, + -3.386363432912863 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -820.9454479643429, + 24.673508860209353, + -3.386363432912863 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -820.9454479643429, + 21.673508860209353, + -3.386363432912863 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -820.9454479643429, + 18.673508860209353, + -3.386363432912863 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -820.9454479643429, + 15.673508860209353, + -3.386363432912863 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -821.0513497924804, + 12.496731524467467, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_11-54-16_703354089/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_11-54-16_703354089/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7a0a74a1dfcf87ecbcc162c9f99cffcd5dd127bb --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_11-54-16_703354089/pose.jsonl @@ -0,0 +1,430 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -927.6403329365901, + 329.4466835542155, + 2.3280168184942447 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -930.2384091479435, + 327.9466835542155, + 2.3280168184942447 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -932.8364853592968, + 326.4466835542155, + 2.3280168184942447 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -935.4345615706502, + 324.9466835542155, + 2.3280168184942447 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -938.0326377820036, + 323.4466835542155, + 2.3280168184942447 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -940.630713993357, + 321.9466835542155, + 2.3280168184942447 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -943.2287902047103, + 320.4466835542155, + 2.3280168184942447 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -945.8268664160637, + 318.9466835542155, + 2.3280168184942447 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -948.4249426274171, + 317.4466835542155, + 2.3280168184942447 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -951.0230188387704, + 315.9466835542155, + 2.3280168184942447 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -953.6210950501238, + 314.4466835542155, + 2.3280168184942447 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -956.2191712614772, + 312.9466835542155, + 2.3280168184942447 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -958.8172474728306, + 311.4466835542155, + 2.3280168184942447 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -961.4153236841839, + 309.9466835542155, + 2.3280168184942447 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -964.0133998955373, + 308.4466835542155, + 2.3280168184942447 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -966.6114761068907, + 306.9466835542155, + 2.3280168184942447 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -969.209552318244, + 305.4466835542155, + 2.3280168184942447 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -971.8076285295974, + 303.9466835542155, + 2.3280168184942447 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -974.4057047409508, + 302.4466835542155, + 2.3280168184942447 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -977.0037809523042, + 300.9466835542155, + 2.3280168184942447 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -979.6018571636575, + 299.4466835542155, + 2.3280168184942447 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -982.1999333750109, + 297.9466835542155, + 2.3280168184942447 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -984.7980095863643, + 296.4466835542155, + 2.3280168184942447 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -987.3960857977177, + 294.9466835542155, + 2.3280168184942447 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -989.994162009071, + 293.4466835542155, + 2.3280168184942447 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -992.5922382204244, + 291.9466835542155, + 2.3280168184942447 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -995.1903144317778, + 290.4466835542155, + 2.3280168184942447 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -995.1903144317778, + 290.4466835542155, + 2.3280168184942447 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -996.6903144317778, + 287.8486073428622, + 2.3280168184942447 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -998.1903144317778, + 285.25053113150886, + 2.3280168184942447 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -999.6903144317778, + 282.65245492015555, + 2.3280168184942447 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1001.1903144317778, + 280.05437870880223, + 2.3280168184942447 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1002.9734149169922, + 277.3824105834961, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_11-54-33_680753219/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_11-54-33_680753219/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..523eb9cedf5aac38083c1f7a977359c61505e4d8 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_11-54-33_680753219/pose.jsonl @@ -0,0 +1,352 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -224.88014916367172, + -344.9847701797768, + -0.46295264876686826 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -224.88014916367172, + -347.9847701797768, + -0.46295264876686826 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -224.88014916367172, + -350.9847701797768, + -0.46295264876686826 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -224.88014916367172, + -353.9847701797768, + -0.46295264876686826 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -224.88014916367172, + -356.9847701797768, + -0.46295264876686826 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -224.88014916367172, + -359.9847701797768, + -0.46295264876686826 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -224.88014916367172, + -362.9847701797768, + -0.46295264876686826 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -224.88014916367172, + -365.9847701797768, + -0.46295264876686826 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -224.88014916367172, + -368.9847701797768, + -0.46295264876686826 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -224.88014916367172, + -371.9847701797768, + -0.46295264876686826 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -224.88014916367172, + -374.9847701797768, + -0.46295264876686826 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -224.88014916367172, + -377.9847701797768, + -0.46295264876686826 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -224.88014916367172, + -380.9847701797768, + -0.46295264876686826 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -224.88014916367172, + -383.9847701797768, + -0.46295264876686826 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -224.88014916367172, + -386.9847701797768, + -0.46295264876686826 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -224.88014916367172, + -389.9847701797768, + -0.46295264876686826 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -224.88014916367172, + -392.9847701797768, + -0.46295264876686826 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -224.88014916367172, + -395.9847701797768, + -0.46295264876686826 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -224.88014916367172, + -398.9847701797768, + -0.46295264876686826 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -224.88014916367172, + -401.9847701797768, + -0.46295264876686826 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -224.88014916367172, + -401.9847701797768, + -0.46295264876686826 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -223.38014916367172, + -404.5828463911301, + -0.46295264876686826 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -221.88014916367172, + -407.1809226024834, + -0.46295264876686826 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -220.38014916367172, + -409.7789988138367, + -0.46295264876686826 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -220.38014916367172, + -409.7789988138367, + -0.46295264876686826 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -217.7820729523184, + -411.2789988138367, + -0.46295264876686826 + ], + "type": "stop", + "value": 0, + "yaw": -0.523598775598299 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -215.0078338623047, + -412.48035171508786, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_11-56-7_163892983/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_11-56-7_163892983/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d52820f4ac88d327affd6c33b7d5161cf8520dbb --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_11-56-7_163892983/pose.jsonl @@ -0,0 +1,521 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -596.8084399895149, + -251.71830366920318, + 4.031140931206947 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -598.3084399895149, + -249.12022745784986, + 4.031140931206947 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -599.8084399895149, + -246.52215124649655, + 4.031140931206947 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -601.3084399895149, + -243.92407503514323, + 4.031140931206947 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -602.8084399895149, + -241.32599882378992, + 4.031140931206947 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -604.3084399895149, + -238.7279226124366, + 4.031140931206947 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -605.8084399895149, + -236.12984640108328, + 4.031140931206947 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -607.3084399895149, + -233.53177018972997, + 4.031140931206947 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -608.8084399895149, + -230.93369397837665, + 4.031140931206947 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -610.3084399895149, + -228.33561776702334, + 4.031140931206947 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -611.8084399895149, + -225.73754155567002, + 4.031140931206947 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -613.3084399895149, + -223.1394653443167, + 4.031140931206947 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -614.8084399895149, + -220.5413891329634, + 4.031140931206947 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -616.3084399895149, + -217.94331292161007, + 4.031140931206947 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -617.8084399895149, + -215.34523671025676, + 4.031140931206947 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -619.3084399895149, + -212.74716049890344, + 4.031140931206947 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -620.8084399895149, + -210.14908428755012, + 4.031140931206947 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -622.3084399895149, + -207.5510080761968, + 4.031140931206947 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -623.8084399895149, + -204.9529318648435, + 4.031140931206947 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -625.3084399895149, + -202.35485565349018, + 4.031140931206947 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -626.8084399895149, + -199.75677944213686, + 4.031140931206947 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -628.3084399895149, + -197.15870323078354, + 4.031140931206947 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -629.8084399895149, + -194.56062701943023, + 4.031140931206947 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -631.3084399895149, + -191.9625508080769, + 4.031140931206947 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -632.8084399895149, + -189.3644745967236, + 4.031140931206947 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -634.3084399895149, + -186.76639838537028, + 4.031140931206947 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -635.8084399895149, + -184.16832217401696, + 4.031140931206947 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -637.3084399895149, + -181.57024596266365, + 4.031140931206947 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -638.8084399895149, + -178.97216975131033, + 4.031140931206947 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -640.3084399895149, + -176.37409353995702, + 4.031140931206947 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -640.3084399895149, + -176.37409353995702, + 4.031140931206947 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -642.9065162008683, + -174.87409353995702, + 4.031140931206947 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -645.5045924122217, + -173.37409353995702, + 4.031140931206947 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -648.102668623575, + -171.87409353995702, + 4.031140931206947 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -650.7007448349284, + -170.37409353995702, + 4.031140931206947 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -653.2988210462818, + -168.87409353995702, + 4.031140931206947 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -655.8968972576351, + -167.37409353995702, + 4.031140931206947 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -658.4949734689885, + -165.87409353995702, + 4.031140931206947 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -661.0930496803419, + -164.37409353995702, + 4.031140931206947 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -661.3270858764648, + -162.2898444366455, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_11-7-34_1389548121/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_11-7-34_1389548121/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f7b3ddcdd3e9380ecbd0732cee94fd2131ece66f --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_11-7-34_1389548121/pose.jsonl @@ -0,0 +1,495 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 100.33632959497355, + 757.2150808874198, + 3.7071987353021623 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 103.33632959497355, + 757.2150808874198, + 3.7071987353021623 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 106.33632959497355, + 757.2150808874198, + 3.7071987353021623 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 109.33632959497355, + 757.2150808874198, + 3.7071987353021623 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 112.33632959497355, + 757.2150808874198, + 3.7071987353021623 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 115.33632959497355, + 757.2150808874198, + 3.7071987353021623 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 118.33632959497355, + 757.2150808874198, + 3.7071987353021623 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 121.33632959497355, + 757.2150808874198, + 3.7071987353021623 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 124.33632959497355, + 757.2150808874198, + 3.7071987353021623 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 127.33632959497355, + 757.2150808874198, + 3.7071987353021623 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 130.33632959497356, + 757.2150808874198, + 3.7071987353021623 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 133.33632959497356, + 757.2150808874198, + 3.7071987353021623 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 136.33632959497356, + 757.2150808874198, + 3.7071987353021623 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 139.33632959497356, + 757.2150808874198, + 3.7071987353021623 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 142.33632959497356, + 757.2150808874198, + 3.7071987353021623 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 145.33632959497356, + 757.2150808874198, + 3.7071987353021623 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 148.33632959497356, + 757.2150808874198, + 3.7071987353021623 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 151.33632959497356, + 757.2150808874198, + 3.7071987353021623 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 154.33632959497356, + 757.2150808874198, + 3.7071987353021623 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 157.33632959497356, + 757.2150808874198, + 3.7071987353021623 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 160.33632959497356, + 757.2150808874198, + 3.7071987353021623 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 163.33632959497356, + 757.2150808874198, + 3.7071987353021623 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 166.33632959497356, + 757.2150808874198, + 3.7071987353021623 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 169.33632959497356, + 757.2150808874198, + 3.7071987353021623 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 169.33632959497356, + 757.2150808874198, + 3.7071987353021623 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 171.93440580632688, + 758.7150808874198, + 3.7071987353021623 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 174.5324820176802, + 760.2150808874198, + 3.7071987353021623 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 177.1305582290335, + 761.7150808874198, + 3.7071987353021623 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 179.72863444038683, + 763.2150808874198, + 3.7071987353021623 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 182.32671065174014, + 764.7150808874198, + 3.7071987353021623 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 184.92478686309346, + 766.2150808874198, + 3.7071987353021623 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 187.52286307444678, + 767.7150808874198, + 3.7071987353021623 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 190.1209392858001, + 769.2150808874198, + 3.7071987353021623 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 192.7190154971534, + 770.7150808874198, + 3.7071987353021623 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 195.31709170850672, + 772.2150808874198, + 3.7071987353021623 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 197.91516791986004, + 773.7150808874198, + 3.7071987353021623 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 200.51324413121336, + 775.2150808874198, + 3.7071987353021623 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 201.67972503662108, + 776.560556640625, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_11-9-44_2101913295/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_11-9-44_2101913295/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..219d5a18a375bff93bf74f7f29a3185fd0e3997a --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_11-9-44_2101913295/pose.jsonl @@ -0,0 +1,378 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -270.0729081980073, + -388.1196291597986, + 2.6220896665793774 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -273.0729081980073, + -388.1196291597986, + 2.6220896665793774 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -276.0729081980073, + -388.1196291597986, + 2.6220896665793774 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -279.0729081980073, + -388.1196291597986, + 2.6220896665793774 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -282.0729081980073, + -388.1196291597986, + 2.6220896665793774 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -285.0729081980073, + -388.1196291597986, + 2.6220896665793774 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -288.0729081980073, + -388.1196291597986, + 2.6220896665793774 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -291.0729081980073, + -388.1196291597986, + 2.6220896665793774 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -294.0729081980073, + -388.1196291597986, + 2.6220896665793774 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -297.0729081980073, + -388.1196291597986, + 2.6220896665793774 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -300.0729081980073, + -388.1196291597986, + 2.6220896665793774 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -303.0729081980073, + -388.1196291597986, + 2.6220896665793774 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -306.0729081980073, + -388.1196291597986, + 2.6220896665793774 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -309.0729081980073, + -388.1196291597986, + 2.6220896665793774 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -312.0729081980073, + -388.1196291597986, + 2.6220896665793774 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -315.0729081980073, + -388.1196291597986, + 2.6220896665793774 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -318.0729081980073, + -388.1196291597986, + 2.6220896665793774 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -321.0729081980073, + -388.1196291597986, + 2.6220896665793774 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -324.0729081980073, + -388.1196291597986, + 2.6220896665793774 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -327.0729081980073, + -388.1196291597986, + 2.6220896665793774 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -330.0729081980073, + -388.1196291597986, + 2.6220896665793774 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -330.0729081980073, + -388.1196291597986, + 2.6220896665793774 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -332.67098440936064, + -386.6196291597986, + 2.6220896665793774 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -335.26906062071396, + -385.1196291597986, + 2.6220896665793774 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -337.8671368320673, + -383.6196291597986, + 2.6220896665793774 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -340.4652130434206, + -382.1196291597986, + 2.6220896665793774 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -343.0632892547739, + -380.6196291597986, + 2.6220896665793774 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -345.6613654661272, + -379.1196291597986, + 2.6220896665793774 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -348.85303680419923, + -377.0924723815918, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-17-31_1270186431/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-17-31_1270186431/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7dc85b5c30602cb7aa9455e064f1761f8c8cdf76 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-17-31_1270186431/pose.jsonl @@ -0,0 +1,560 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -42.30137054298728, + -139.45819865103084, + -1.501009627983657 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -40.80137054298728, + -142.05627486238416, + -1.501009627983657 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -39.30137054298728, + -144.65435107373747, + -1.501009627983657 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -37.80137054298728, + -147.2524272850908, + -1.501009627983657 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -36.30137054298728, + -149.8505034964441, + -1.501009627983657 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -34.80137054298728, + -152.44857970779742, + -1.501009627983657 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -33.30137054298728, + -155.04665591915074, + -1.501009627983657 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -31.80137054298728, + -157.64473213050405, + -1.501009627983657 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -30.30137054298728, + -160.24280834185737, + -1.501009627983657 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -28.80137054298728, + -162.84088455321069, + -1.501009627983657 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -27.30137054298728, + -165.438960764564, + -1.501009627983657 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -25.80137054298728, + -168.03703697591732, + -1.501009627983657 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -24.30137054298728, + -170.63511318727063, + -1.501009627983657 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -22.80137054298728, + -173.23318939862395, + -1.501009627983657 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -21.30137054298728, + -175.83126560997727, + -1.501009627983657 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -19.80137054298728, + -178.42934182133058, + -1.501009627983657 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -18.30137054298728, + -181.0274180326839, + -1.501009627983657 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -16.80137054298728, + -183.6254942440372, + -1.501009627983657 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -15.301370542987279, + -186.22357045539053, + -1.501009627983657 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -13.801370542987279, + -188.82164666674385, + -1.501009627983657 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -12.301370542987279, + -191.41972287809716, + -1.501009627983657 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -10.801370542987279, + -194.01779908945048, + -1.501009627983657 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -9.301370542987279, + -196.6158753008038, + -1.501009627983657 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -9.301370542987279, + -196.6158753008038, + -1.501009627983657 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -9.301370542987279, + -199.6158753008038, + -1.501009627983657 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -9.301370542987279, + -202.6158753008038, + -1.501009627983657 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -9.301370542987279, + -205.6158753008038, + -1.501009627983657 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -9.301370542987279, + -208.6158753008038, + -1.501009627983657 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -9.301370542987279, + -211.6158753008038, + -1.501009627983657 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -9.301370542987279, + -214.6158753008038, + -1.501009627983657 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -9.301370542987279, + -217.6158753008038, + -1.501009627983657 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -9.301370542987279, + -220.6158753008038, + -1.501009627983657 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -9.301370542987279, + -223.6158753008038, + -1.501009627983657 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -9.301370542987279, + -226.6158753008038, + -1.501009627983657 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -9.301370542987279, + -229.6158753008038, + -1.501009627983657 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -9.301370542987279, + -232.6158753008038, + -1.501009627983657 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -9.301370542987279, + -235.6158753008038, + -1.501009627983657 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -9.301370542987279, + -238.6158753008038, + -1.501009627983657 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -9.301370542987279, + -241.6158753008038, + -1.501009627983657 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -9.301370542987279, + -244.6158753008038, + -1.501009627983657 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -9.301370542987279, + -247.6158753008038, + -1.501009627983657 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -9.301370542987279, + -250.6158753008038, + -1.501009627983657 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -8.725501627922059, + -251.86730323791502, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-18-40_1403327046/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-18-40_1403327046/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9a41afb635b377f31ae0ee8758b03cb68ca0539e --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-18-40_1403327046/pose.jsonl @@ -0,0 +1,469 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -270.4844204974864, + -319.2059886067351, + 2.837898377200169 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -273.0824967088397, + -320.7059886067351, + 2.837898377200169 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -275.680572920193, + -322.2059886067351, + 2.837898377200169 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -278.27864913154633, + -323.7059886067351, + 2.837898377200169 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -280.87672534289965, + -325.2059886067351, + 2.837898377200169 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -283.47480155425296, + -326.7059886067351, + 2.837898377200169 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -286.0728777656063, + -328.2059886067351, + 2.837898377200169 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -288.6709539769596, + -329.7059886067351, + 2.837898377200169 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -291.2690301883129, + -331.2059886067351, + 2.837898377200169 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -293.8671063996662, + -332.7059886067351, + 2.837898377200169 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -296.46518261101954, + -334.2059886067351, + 2.837898377200169 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -299.06325882237286, + -335.7059886067351, + 2.837898377200169 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -301.6613350337262, + -337.2059886067351, + 2.837898377200169 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -304.2594112450795, + -338.7059886067351, + 2.837898377200169 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -306.8574874564328, + -340.2059886067351, + 2.837898377200169 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -309.4555636677861, + -341.7059886067351, + 2.837898377200169 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -312.05363987913944, + -343.2059886067351, + 2.837898377200169 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -314.65171609049276, + -344.7059886067351, + 2.837898377200169 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -317.24979230184607, + -346.2059886067351, + 2.837898377200169 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -319.8478685131994, + -347.7059886067351, + 2.837898377200169 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -322.4459447245527, + -349.2059886067351, + 2.837898377200169 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -325.044020935906, + -350.7059886067351, + 2.837898377200169 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -327.64209714725934, + -352.2059886067351, + 2.837898377200169 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -327.64209714725934, + -352.2059886067351, + 2.837898377200169 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -329.14209714725934, + -354.8040648180884, + 2.837898377200169 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -330.64209714725934, + -357.40214102944174, + 2.837898377200169 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -332.14209714725934, + -360.00021724079505, + 2.837898377200169 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -333.64209714725934, + -362.59829345214837, + 2.837898377200169 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -335.14209714725934, + -365.1963696635017, + 2.837898377200169 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -336.64209714725934, + -367.794445874855, + 2.837898377200169 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -338.14209714725934, + -370.3925220862083, + 2.837898377200169 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -338.14209714725934, + -370.3925220862083, + 2.837898377200169 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -340.74017335861265, + -371.8925220862083, + 2.837898377200169 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -343.33824956996597, + -373.3925220862083, + 2.837898377200169 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -345.9363257813193, + -374.8925220862083, + 2.837898377200169 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -348.85303680419923, + -377.0924723815918, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-20-16_1953548444/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-20-16_1953548444/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1c7bde505adf06cc37ecd7b593b6002527b6515a --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-20-16_1953548444/pose.jsonl @@ -0,0 +1,378 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -858.8605253674106, + 110.92169626354348, + 4.1918229383883325 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -855.8605253674106, + 110.92169626354348, + 4.1918229383883325 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -852.8605253674106, + 110.92169626354348, + 4.1918229383883325 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -849.8605253674106, + 110.92169626354348, + 4.1918229383883325 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -846.8605253674106, + 110.92169626354348, + 4.1918229383883325 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -843.8605253674106, + 110.92169626354348, + 4.1918229383883325 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -840.8605253674106, + 110.92169626354348, + 4.1918229383883325 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -837.8605253674106, + 110.92169626354348, + 4.1918229383883325 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -834.8605253674106, + 110.92169626354348, + 4.1918229383883325 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -834.8605253674106, + 110.92169626354348, + 4.1918229383883325 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -832.2624491560573, + 109.42169626354348, + 4.1918229383883325 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -829.6643729447039, + 107.92169626354348, + 4.1918229383883325 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -827.0662967333506, + 106.42169626354348, + 4.1918229383883325 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -824.4682205219972, + 104.92169626354348, + 4.1918229383883325 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -821.8701443106438, + 103.42169626354348, + 4.1918229383883325 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -819.2720680992904, + 101.92169626354348, + 4.1918229383883325 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -816.6739918879371, + 100.42169626354348, + 4.1918229383883325 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -814.0759156765837, + 98.92169626354348, + 4.1918229383883325 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -811.4778394652303, + 97.42169626354348, + 4.1918229383883325 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -808.879763253877, + 95.92169626354348, + 4.1918229383883325 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -806.2816870425236, + 94.42169626354348, + 4.1918229383883325 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -803.6836108311702, + 92.92169626354348, + 4.1918229383883325 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -801.0855346198168, + 91.42169626354348, + 4.1918229383883325 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -798.4874584084635, + 89.92169626354348, + 4.1918229383883325 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -795.8893821971101, + 88.42169626354348, + 4.1918229383883325 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -793.2913059857567, + 86.92169626354348, + 4.1918229383883325 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -790.6932297744033, + 85.42169626354348, + 4.1918229383883325 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -788.09515356305, + 83.92169626354348, + 4.1918229383883325 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -785.9369680786133, + 81.05284317016601, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-22-35_289404619/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-22-35_289404619/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..477759165486e52dd2c0c4a54d2af3438785951c --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-22-35_289404619/pose.jsonl @@ -0,0 +1,378 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -726.3207738354561, + 165.66713810631688, + 4.285635048278731 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -724.8207738354561, + 168.2652143176702, + 4.285635048278731 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -723.3207738354561, + 170.86329052902352, + 4.285635048278731 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -721.8207738354561, + 173.46136674037683, + 4.285635048278731 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -720.3207738354561, + 176.05944295173015, + 4.285635048278731 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -718.8207738354561, + 178.65751916308346, + 4.285635048278731 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -717.3207738354561, + 181.25559537443678, + 4.285635048278731 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -715.8207738354561, + 183.8536715857901, + 4.285635048278731 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -714.3207738354561, + 186.4517477971434, + 4.285635048278731 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -712.8207738354561, + 189.04982400849673, + 4.285635048278731 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -711.3207738354561, + 191.64790021985004, + 4.285635048278731 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -709.8207738354561, + 194.24597643120336, + 4.285635048278731 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -708.3207738354561, + 196.84405264255668, + 4.285635048278731 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -706.8207738354561, + 199.44212885391, + 4.285635048278731 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -705.3207738354561, + 202.0402050652633, + 4.285635048278731 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -703.8207738354561, + 204.63828127661662, + 4.285635048278731 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -703.8207738354561, + 204.63828127661662, + 4.285635048278731 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -703.8207738354561, + 207.63828127661662, + 4.285635048278731 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -703.8207738354561, + 210.63828127661662, + 4.285635048278731 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -703.8207738354561, + 213.63828127661662, + 4.285635048278731 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -703.8207738354561, + 216.63828127661662, + 4.285635048278731 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -703.8207738354561, + 219.63828127661662, + 4.285635048278731 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -703.8207738354561, + 222.63828127661662, + 4.285635048278731 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -703.8207738354561, + 225.63828127661662, + 4.285635048278731 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -703.8207738354561, + 228.63828127661662, + 4.285635048278731 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -703.8207738354561, + 231.63828127661662, + 4.285635048278731 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -703.8207738354561, + 234.63828127661662, + 4.285635048278731 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -703.8207738354561, + 237.63828127661662, + 4.285635048278731 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -701.6309753417969, + 238.16310417175293, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-23-5_540326456/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-23-5_540326456/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..860fa106598d8c4d0a69f98bac1a4e1dffab4dd0 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-23-5_540326456/pose.jsonl @@ -0,0 +1,443 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 135.5172795426622, + 696.7504132637855, + 4.668861714824118 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 138.5172795426622, + 696.7504132637855, + 4.668861714824118 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 141.5172795426622, + 696.7504132637855, + 4.668861714824118 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 144.5172795426622, + 696.7504132637855, + 4.668861714824118 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 147.5172795426622, + 696.7504132637855, + 4.668861714824118 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 150.5172795426622, + 696.7504132637855, + 4.668861714824118 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 153.5172795426622, + 696.7504132637855, + 4.668861714824118 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 156.5172795426622, + 696.7504132637855, + 4.668861714824118 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 159.5172795426622, + 696.7504132637855, + 4.668861714824118 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 162.5172795426622, + 696.7504132637855, + 4.668861714824118 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 165.5172795426622, + 696.7504132637855, + 4.668861714824118 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 168.5172795426622, + 696.7504132637855, + 4.668861714824118 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 171.5172795426622, + 696.7504132637855, + 4.668861714824118 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 174.5172795426622, + 696.7504132637855, + 4.668861714824118 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 177.5172795426622, + 696.7504132637855, + 4.668861714824118 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 180.5172795426622, + 696.7504132637855, + 4.668861714824118 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 183.5172795426622, + 696.7504132637855, + 4.668861714824118 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 186.5172795426622, + 696.7504132637855, + 4.668861714824118 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 189.5172795426622, + 696.7504132637855, + 4.668861714824118 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 192.5172795426622, + 696.7504132637855, + 4.668861714824118 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 195.5172795426622, + 696.7504132637855, + 4.668861714824118 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 198.5172795426622, + 696.7504132637855, + 4.668861714824118 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 201.5172795426622, + 696.7504132637855, + 4.668861714824118 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 204.5172795426622, + 696.7504132637855, + 4.668861714824118 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 207.5172795426622, + 696.7504132637855, + 4.668861714824118 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 210.5172795426622, + 696.7504132637855, + 4.668861714824118 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 213.5172795426622, + 696.7504132637855, + 4.668861714824118 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 216.5172795426622, + 696.7504132637855, + 4.668861714824118 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 219.5172795426622, + 696.7504132637855, + 4.668861714824118 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 222.5172795426622, + 696.7504132637855, + 4.668861714824118 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 222.5172795426622, + 696.7504132637855, + 4.668861714824118 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 225.11535575401552, + 695.2504132637855, + 4.668861714824118 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 227.71343196536884, + 693.7504132637855, + 4.668861714824118 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 229.7172834777832, + 692.2608906555175, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-28-42_807869145/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-28-42_807869145/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b5438ef713550b2ec03b006d0ddd2849d9104b3c --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-28-42_807869145/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -835.9838368320984, + 375.9550313966934, + 2.0423739976242885 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -838.5819130434518, + 377.4550313966934, + 2.0423739976242885 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -841.1799892548052, + 378.9550313966934, + 2.0423739976242885 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -843.7780654661585, + 380.4550313966934, + 2.0423739976242885 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -846.3761416775119, + 381.9550313966934, + 2.0423739976242885 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -848.9742178888653, + 383.4550313966934, + 2.0423739976242885 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -851.5722941002186, + 384.9550313966934, + 2.0423739976242885 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -854.170370311572, + 386.4550313966934, + 2.0423739976242885 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -856.7684465229254, + 387.9550313966934, + 2.0423739976242885 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -859.3665227342788, + 389.4550313966934, + 2.0423739976242885 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -861.9645989456321, + 390.9550313966934, + 2.0423739976242885 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -864.5626751569855, + 392.4550313966934, + 2.0423739976242885 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -867.1607513683389, + 393.9550313966934, + 2.0423739976242885 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -869.7588275796923, + 395.4550313966934, + 2.0423739976242885 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -872.3569037910456, + 396.9550313966934, + 2.0423739976242885 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -872.3569037910456, + 396.9550313966934, + 2.0423739976242885 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -873.8569037910456, + 399.55310760804673, + 2.0423739976242885 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -875.3569037910456, + 402.15118381940005, + 2.0423739976242885 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -876.8569037910456, + 404.74926003075336, + 2.0423739976242885 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -878.3569037910456, + 407.3473362421067, + 2.0423739976242885 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -879.8569037910456, + 409.94541245346, + 2.0423739976242885 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -881.3569037910456, + 412.5434886648133, + 2.0423739976242885 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -882.8569037910456, + 415.1415648761666, + 2.0423739976242885 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -884.2225183105469, + 417.81855880737305, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-37-3_2082901094/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-37-3_2082901094/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3512c1b42090e86e8a5e491a823f72ffa145c637 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-37-3_2082901094/pose.jsonl @@ -0,0 +1,300 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -988.9868827151948, + 180.46449707674526, + -2.9305177281320254 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -988.9868827151948, + 183.46449707674526, + -2.9305177281320254 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -988.9868827151948, + 186.46449707674526, + -2.9305177281320254 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -988.9868827151948, + 189.46449707674526, + -2.9305177281320254 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -988.9868827151948, + 192.46449707674526, + -2.9305177281320254 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -988.9868827151948, + 195.46449707674526, + -2.9305177281320254 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -988.9868827151948, + 198.46449707674526, + -2.9305177281320254 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -988.9868827151948, + 201.46449707674526, + -2.9305177281320254 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -988.9868827151948, + 204.46449707674526, + -2.9305177281320254 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -988.9868827151948, + 207.46449707674526, + -2.9305177281320254 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -988.9868827151948, + 210.46449707674526, + -2.9305177281320254 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -988.9868827151948, + 213.46449707674526, + -2.9305177281320254 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -988.9868827151948, + 216.46449707674526, + -2.9305177281320254 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -988.9868827151948, + 219.46449707674526, + -2.9305177281320254 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -988.9868827151948, + 222.46449707674526, + -2.9305177281320254 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -988.9868827151948, + 222.46449707674526, + -2.9305177281320254 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -987.4868827151948, + 225.06257328809858, + -2.9305177281320254 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -985.9868827151948, + 227.6606494994519, + -2.9305177281320254 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -984.4868827151948, + 230.2587257108052, + -2.9305177281320254 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -982.9868827151948, + 232.85680192215852, + -2.9305177281320254 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -981.4868827151948, + 235.45487813351184, + -2.9305177281320254 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -979.9868827151948, + 238.05295434486516, + -2.9305177281320254 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -978.6087219238281, + 239.76509559631347, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-38-41_1489435518/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-38-41_1489435518/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b4c9894c1cacde9a0e3f898ec7b85b2ac2c9e8f2 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-38-41_1489435518/pose.jsonl @@ -0,0 +1,391 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -915.6535765952746, + 457.8053222890617, + -3.2458361888095846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -917.1535765952746, + 455.20724607770836, + -3.2458361888095846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -918.6535765952746, + 452.60916986635505, + -3.2458361888095846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -920.1535765952746, + 450.01109365500173, + -3.2458361888095846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -921.6535765952746, + 447.4130174436484, + -3.2458361888095846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -923.1535765952746, + 444.8149412322951, + -3.2458361888095846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -924.6535765952746, + 442.2168650209418, + -3.2458361888095846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -926.1535765952746, + 439.61878880958847, + -3.2458361888095846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -927.6535765952746, + 437.02071259823515, + -3.2458361888095846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -929.1535765952746, + 434.42263638688183, + -3.2458361888095846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -930.6535765952746, + 431.8245601755285, + -3.2458361888095846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -932.1535765952746, + 429.2264839641752, + -3.2458361888095846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -933.6535765952746, + 426.6284077528219, + -3.2458361888095846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -935.1535765952746, + 424.03033154146857, + -3.2458361888095846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -936.6535765952746, + 421.43225533011525, + -3.2458361888095846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -938.1535765952746, + 418.83417911876194, + -3.2458361888095846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -939.6535765952746, + 416.2361029074086, + -3.2458361888095846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -941.1535765952746, + 413.6380266960553, + -3.2458361888095846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -942.6535765952746, + 411.039950484702, + -3.2458361888095846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -944.1535765952746, + 408.4418742733487, + -3.2458361888095846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -945.6535765952746, + 405.84379806199536, + -3.2458361888095846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -947.1535765952746, + 403.24572185064204, + -3.2458361888095846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -948.6535765952746, + 400.6476456392887, + -3.2458361888095846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -950.1535765952746, + 398.0495694279354, + -3.2458361888095846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -951.6535765952746, + 395.4514932165821, + -3.2458361888095846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -953.1535765952746, + 392.8534170052288, + -3.2458361888095846 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -953.1535765952746, + 392.8534170052288, + -3.2458361888095846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -955.7516528066278, + 391.3534170052288, + -3.2458361888095846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -958.3497290179812, + 389.8534170052288, + -3.2458361888095846 + ], + "type": "stop", + "value": 0, + "yaw": -2.617993877991485 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -979.8297436523437, + 358.6925830078125, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-39-13_1696549109/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-39-13_1696549109/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a87beb32b0eac78bef6100002ed27f0bb1f3a108 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-39-13_1696549109/pose.jsonl @@ -0,0 +1,378 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -973.6605079621262, + 262.6586785267722, + 0.1953816180842054 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -972.1605079621262, + 265.2567547381255, + 0.1953816180842054 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -970.6605079621262, + 267.8548309494788, + 0.1953816180842054 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -969.1605079621262, + 270.4529071608321, + 0.1953816180842054 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -967.6605079621262, + 273.05098337218544, + 0.1953816180842054 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -966.1605079621262, + 275.64905958353876, + 0.1953816180842054 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -964.6605079621262, + 278.2471357948921, + 0.1953816180842054 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -963.1605079621262, + 280.8452120062454, + 0.1953816180842054 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -961.6605079621262, + 283.4432882175987, + 0.1953816180842054 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -960.1605079621262, + 286.041364428952, + 0.1953816180842054 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -958.6605079621262, + 288.63944064030534, + 0.1953816180842054 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -957.1605079621262, + 291.23751685165865, + 0.1953816180842054 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -955.6605079621262, + 293.83559306301197, + 0.1953816180842054 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -954.1605079621262, + 296.4336692743653, + 0.1953816180842054 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -952.6605079621262, + 299.0317454857186, + 0.1953816180842054 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -951.1605079621262, + 301.6298216970719, + 0.1953816180842054 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -949.6605079621262, + 304.22789790842523, + 0.1953816180842054 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -948.1605079621262, + 306.82597411977855, + 0.1953816180842054 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -946.6605079621262, + 309.42405033113187, + 0.1953816180842054 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -945.1605079621262, + 312.0221265424852, + 0.1953816180842054 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -943.6605079621262, + 314.6202027538385, + 0.1953816180842054 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -943.6605079621262, + 314.6202027538385, + 0.1953816180842054 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -943.6605079621262, + 317.6202027538385, + 0.1953816180842054 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -943.6605079621262, + 320.6202027538385, + 0.1953816180842054 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -943.6605079621262, + 323.6202027538385, + 0.1953816180842054 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -943.6605079621262, + 326.6202027538385, + 0.1953816180842054 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -943.6605079621262, + 329.6202027538385, + 0.1953816180842054 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -943.6605079621262, + 332.6202027538385, + 0.1953816180842054 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -942.5730328369141, + 336.42247901916505, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-39-46_234313225/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-39-46_234313225/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7b7fd84a052c7164bf00775b6ff241ff3ea5f864 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-39-46_234313225/pose.jsonl @@ -0,0 +1,300 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -668.8174568645866, + 259.7182590276985, + -0.9811949882682374 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -671.41553307594, + 258.2182590276985, + -0.9811949882682374 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -674.0136092872933, + 256.7182590276985, + -0.9811949882682374 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -676.6116854986467, + 255.21825902769848, + -0.9811949882682374 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -679.2097617100001, + 253.71825902769848, + -0.9811949882682374 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -681.8078379213534, + 252.21825902769848, + -0.9811949882682374 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -684.4059141327068, + 250.71825902769848, + -0.9811949882682374 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -687.0039903440602, + 249.21825902769848, + -0.9811949882682374 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -689.6020665554136, + 247.71825902769848, + -0.9811949882682374 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -692.2001427667669, + 246.21825902769848, + -0.9811949882682374 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -694.7982189781203, + 244.71825902769848, + -0.9811949882682374 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -697.3962951894737, + 243.21825902769848, + -0.9811949882682374 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -699.994371400827, + 241.71825902769848, + -0.9811949882682374 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -702.5924476121804, + 240.21825902769848, + -0.9811949882682374 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -705.1905238235338, + 238.71825902769848, + -0.9811949882682374 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -707.7886000348872, + 237.21825902769848, + -0.9811949882682374 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -710.3866762462405, + 235.71825902769848, + -0.9811949882682374 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -712.9847524575939, + 234.21825902769848, + -0.9811949882682374 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -715.5828286689473, + 232.71825902769848, + -0.9811949882682374 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -715.5828286689473, + 232.71825902769848, + -0.9811949882682374 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -717.0828286689473, + 230.12018281634516, + -0.9811949882682374 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -718.5828286689473, + 227.52210660499185, + -0.9811949882682374 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -719.2420056152343, + 225.9435828399658, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-4-2_2032417183/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-4-2_2032417183/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ca96bb0ef9e185d5d289c1808f77947584fd0a2f --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-4-2_2032417183/pose.jsonl @@ -0,0 +1,508 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -58.49636306685878, + 281.04410310685904, + -1.9699081626498387 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -59.99636306685878, + 283.64217931821236, + -1.9699081626498387 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -61.49636306685878, + 286.2402555295657, + -1.9699081626498387 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -62.99636306685878, + 288.838331740919, + -1.9699081626498387 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -64.49636306685878, + 291.4364079522723, + -1.9699081626498387 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -65.99636306685878, + 294.0344841636256, + -1.9699081626498387 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -67.49636306685878, + 296.63256037497894, + -1.9699081626498387 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -68.99636306685878, + 299.23063658633225, + -1.9699081626498387 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -70.49636306685878, + 301.82871279768557, + -1.9699081626498387 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -71.99636306685878, + 304.4267890090389, + -1.9699081626498387 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -73.49636306685878, + 307.0248652203922, + -1.9699081626498387 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -74.99636306685878, + 309.6229414317455, + -1.9699081626498387 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -76.49636306685878, + 312.22101764309883, + -1.9699081626498387 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -77.99636306685878, + 314.81909385445215, + -1.9699081626498387 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -79.49636306685878, + 317.41717006580546, + -1.9699081626498387 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -80.99636306685878, + 320.0152462771588, + -1.9699081626498387 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -82.49636306685878, + 322.6133224885121, + -1.9699081626498387 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -83.99636306685878, + 325.2113986998654, + -1.9699081626498387 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -85.49636306685878, + 327.80947491121873, + -1.9699081626498387 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -86.99636306685878, + 330.40755112257204, + -1.9699081626498387 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -88.49636306685878, + 333.00562733392536, + -1.9699081626498387 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -89.99636306685878, + 335.6037035452787, + -1.9699081626498387 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -91.49636306685878, + 338.201779756632, + -1.9699081626498387 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -92.99636306685878, + 340.7998559679853, + -1.9699081626498387 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -94.49636306685878, + 343.3979321793386, + -1.9699081626498387 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -95.99636306685878, + 345.99600839069194, + -1.9699081626498387 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -97.49636306685878, + 348.59408460204526, + -1.9699081626498387 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -98.99636306685878, + 351.1921608133986, + -1.9699081626498387 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -100.49636306685878, + 353.7902370247519, + -1.9699081626498387 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -101.99636306685878, + 356.3883132361052, + -1.9699081626498387 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -103.49636306685878, + 358.9863894474585, + -1.9699081626498387 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -104.99636306685878, + 361.58446565881184, + -1.9699081626498387 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -106.49636306685878, + 364.18254187016515, + -1.9699081626498387 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -107.99636306685878, + 366.78061808151847, + -1.9699081626498387 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -109.49636306685878, + 369.3786942928718, + -1.9699081626498387 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -110.99636306685878, + 371.9767705042251, + -1.9699081626498387 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -112.49636306685878, + 374.5748467155784, + -1.9699081626498387 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -113.99636306685878, + 377.17292292693173, + -1.9699081626498387 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -114.1546768951416, + 378.73713836669924, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-4-51_816636480/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-4-51_816636480/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e8a95c87f5f06c1f19c548bf79db46fd7ae07bd0 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-4-51_816636480/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -725.8806583720262, + -188.02097832067875, + -2.4354696270758773 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -722.8806583720262, + -188.02097832067875, + -2.4354696270758773 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -719.8806583720262, + -188.02097832067875, + -2.4354696270758773 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -716.8806583720262, + -188.02097832067875, + -2.4354696270758773 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -713.8806583720262, + -188.02097832067875, + -2.4354696270758773 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -710.8806583720262, + -188.02097832067875, + -2.4354696270758773 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -707.8806583720262, + -188.02097832067875, + -2.4354696270758773 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -704.8806583720262, + -188.02097832067875, + -2.4354696270758773 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -701.8806583720262, + -188.02097832067875, + -2.4354696270758773 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -701.8806583720262, + -188.02097832067875, + -2.4354696270758773 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -699.282582160673, + -186.52097832067875, + -2.4354696270758773 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -696.6845059493196, + -185.02097832067875, + -2.4354696270758773 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -694.0864297379662, + -183.52097832067875, + -2.4354696270758773 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -691.4883535266129, + -182.02097832067875, + -2.4354696270758773 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -688.8902773152595, + -180.52097832067875, + -2.4354696270758773 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -686.2922011039061, + -179.02097832067875, + -2.4354696270758773 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -683.6941248925527, + -177.52097832067875, + -2.4354696270758773 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -681.0960486811994, + -176.02097832067875, + -2.4354696270758773 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -678.497972469846, + -174.52097832067875, + -2.4354696270758773 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -675.8998962584926, + -173.02097832067875, + -2.4354696270758773 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -673.3018200471392, + -171.52097832067875, + -2.4354696270758773 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -670.7037438357859, + -170.02097832067875, + -2.4354696270758773 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -668.1056676244325, + -168.52097832067875, + -2.4354696270758773 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -665.5075914130791, + -167.02097832067875, + -2.4354696270758773 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -662.9095152017258, + -165.52097832067875, + -2.4354696270758773 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -661.3270858764648, + -162.2898444366455, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-40-39_1663925721/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-40-39_1663925721/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..be09ccbc86638a0d8aa21c6be58552cf8b5c24ca --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-40-39_1663925721/pose.jsonl @@ -0,0 +1,248 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -365.4203748510763, + -11.770806991445028, + 1.9317503765717072 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -368.0184510624296, + -10.270806991445028, + 1.9317503765717072 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -370.61652727378294, + -8.770806991445028, + 1.9317503765717072 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -373.21460348513625, + -7.270806991445028, + 1.9317503765717072 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -375.81267969648957, + -5.770806991445028, + 1.9317503765717072 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -378.4107559078429, + -4.270806991445028, + 1.9317503765717072 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -381.0088321191962, + -2.7708069914450277, + 1.9317503765717072 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -383.6069083305495, + -1.270806991445028, + 1.9317503765717072 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -386.20498454190283, + 0.22919300855497182, + 1.9317503765717072 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -388.80306075325615, + 1.7291930085549716, + 1.9317503765717072 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -391.40113696460946, + 3.2291930085549714, + 1.9317503765717072 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -393.9992131759628, + 4.729193008554971, + 1.9317503765717072 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -396.5972893873161, + 6.229193008554971, + 1.9317503765717072 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -399.1953655986694, + 7.729193008554971, + 1.9317503765717072 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -401.7934418100227, + 9.22919300855497, + 1.9317503765717072 + ], + "type": "turn right", + "value": 30, + "yaw": 2.617993877991495 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -401.7934418100227, + 9.22919300855497, + 1.9317503765717072 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393196 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -403.2934418100227, + 11.827269219908287, + 1.9317503765717072 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -404.7934418100227, + 14.425345431261603, + 1.9317503765717072 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -431.4943495178223, + 32.88219102859497, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-43-0_1442684294/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-43-0_1442684294/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..737f6c524bea0a83a635e7ca2c431f877e5c61b4 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-43-0_1442684294/pose.jsonl @@ -0,0 +1,456 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -181.8681580590492, + -157.6475594922657, + 2.733011025597679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -180.3681580590492, + -155.0494832809124, + 2.733011025597679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -178.8681580590492, + -152.45140706955908, + 2.733011025597679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -177.3681580590492, + -149.85333085820577, + 2.733011025597679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -175.8681580590492, + -147.25525464685245, + 2.733011025597679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -174.3681580590492, + -144.65717843549913, + 2.733011025597679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -172.8681580590492, + -142.05910222414582, + 2.733011025597679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -171.3681580590492, + -139.4610260127925, + 2.733011025597679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -169.8681580590492, + -136.86294980143919, + 2.733011025597679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -168.3681580590492, + -134.26487359008587, + 2.733011025597679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -166.8681580590492, + -131.66679737873255, + 2.733011025597679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -165.3681580590492, + -129.06872116737924, + 2.733011025597679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -163.8681580590492, + -126.47064495602592, + 2.733011025597679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -162.3681580590492, + -123.8725687446726, + 2.733011025597679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -160.8681580590492, + -121.27449253331929, + 2.733011025597679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -159.3681580590492, + -118.67641632196597, + 2.733011025597679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -157.8681580590492, + -116.07834011061266, + 2.733011025597679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -156.3681580590492, + -113.48026389925934, + 2.733011025597679 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -156.3681580590492, + -113.48026389925934, + 2.733011025597679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -156.3681580590492, + -110.48026389925934, + 2.733011025597679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -156.3681580590492, + -107.48026389925934, + 2.733011025597679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -156.3681580590492, + -104.48026389925934, + 2.733011025597679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -156.3681580590492, + -101.48026389925934, + 2.733011025597679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -156.3681580590492, + -98.48026389925934, + 2.733011025597679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -156.3681580590492, + -95.48026389925934, + 2.733011025597679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -156.3681580590492, + -92.48026389925934, + 2.733011025597679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -156.3681580590492, + -89.48026389925934, + 2.733011025597679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -156.3681580590492, + -86.48026389925934, + 2.733011025597679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -156.3681580590492, + -83.48026389925934, + 2.733011025597679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -156.3681580590492, + -80.48026389925934, + 2.733011025597679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -156.3681580590492, + -77.48026389925934, + 2.733011025597679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -156.3681580590492, + -74.48026389925934, + 2.733011025597679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -156.3681580590492, + -71.48026389925934, + 2.733011025597679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -156.3681580590492, + -68.48026389925934, + 2.733011025597679 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -156.47577671051025, + -64.65314291000367, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-44-21_881759/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-44-21_881759/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4a6e45a096f1eaadc1b12ea004d46fa163bc0758 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-44-21_881759/pose.jsonl @@ -0,0 +1,534 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 143.31168288753992, + 145.8093208579388, + -4.729154161766507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 141.81168288753992, + 148.4073970692921, + -4.729154161766507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 140.31168288753992, + 151.00547328064542, + -4.729154161766507 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 140.31168288753992, + 151.00547328064542, + -4.729154161766507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 137.7136066761866, + 152.50547328064542, + -4.729154161766507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 135.11553046483328, + 154.00547328064542, + -4.729154161766507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 132.51745425347997, + 155.50547328064542, + -4.729154161766507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 129.91937804212665, + 157.00547328064542, + -4.729154161766507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 127.32130183077334, + 158.50547328064542, + -4.729154161766507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 124.72322561942002, + 160.00547328064542, + -4.729154161766507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 122.1251494080667, + 161.50547328064542, + -4.729154161766507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 119.52707319671339, + 163.00547328064542, + -4.729154161766507 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 119.52707319671339, + 163.00547328064542, + -4.729154161766507 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 116.52707319671339, + 163.00547328064542, + -4.729154161766507 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 113.52707319671339, + 163.00547328064542, + -4.729154161766507 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 110.52707319671339, + 163.00547328064542, + -4.729154161766507 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 107.52707319671339, + 163.00547328064542, + -4.729154161766507 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 104.52707319671339, + 163.00547328064542, + -4.729154161766507 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 101.52707319671339, + 163.00547328064542, + -4.729154161766507 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 98.52707319671339, + 163.00547328064542, + -4.729154161766507 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 95.52707319671339, + 163.00547328064542, + -4.729154161766507 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 92.52707319671339, + 163.00547328064542, + -4.729154161766507 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 89.52707319671339, + 163.00547328064542, + -4.729154161766507 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 86.52707319671339, + 163.00547328064542, + -4.729154161766507 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 83.52707319671339, + 163.00547328064542, + -4.729154161766507 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 80.52707319671339, + 163.00547328064542, + -4.729154161766507 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 77.52707319671339, + 163.00547328064542, + -4.729154161766507 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 74.52707319671339, + 163.00547328064542, + -4.729154161766507 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 71.52707319671339, + 163.00547328064542, + -4.729154161766507 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 68.52707319671339, + 163.00547328064542, + -4.729154161766507 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 65.52707319671339, + 163.00547328064542, + -4.729154161766507 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 62.52707319671339, + 163.00547328064542, + -4.729154161766507 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 59.52707319671339, + 163.00547328064542, + -4.729154161766507 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 56.52707319671339, + 163.00547328064542, + -4.729154161766507 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 53.52707319671339, + 163.00547328064542, + -4.729154161766507 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 50.52707319671339, + 163.00547328064542, + -4.729154161766507 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 47.52707319671339, + 163.00547328064542, + -4.729154161766507 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 44.52707319671339, + 163.00547328064542, + -4.729154161766507 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 41.52707319671339, + 163.00547328064542, + -4.729154161766507 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 38.52707319671339, + 163.00547328064542, + -4.729154161766507 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 36.64368785858154, + 161.94002262115478, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-48-16_759316586/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-48-16_759316586/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5585493cc820735a2e8d32657c0752f04ac9f189 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-48-16_759316586/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -101.02120129477706, + 315.342325689565, + -2.9741873931122127 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -101.02120129477706, + 318.342325689565, + -2.9741873931122127 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -101.02120129477706, + 321.342325689565, + -2.9741873931122127 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -101.02120129477706, + 324.342325689565, + -2.9741873931122127 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -101.02120129477706, + 327.342325689565, + -2.9741873931122127 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -101.02120129477706, + 330.342325689565, + -2.9741873931122127 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -101.02120129477706, + 333.342325689565, + -2.9741873931122127 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -101.02120129477706, + 336.342325689565, + -2.9741873931122127 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -101.02120129477706, + 339.342325689565, + -2.9741873931122127 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -101.02120129477706, + 342.342325689565, + -2.9741873931122127 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -101.02120129477706, + 345.342325689565, + -2.9741873931122127 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -101.02120129477706, + 348.342325689565, + -2.9741873931122127 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -101.02120129477706, + 351.342325689565, + -2.9741873931122127 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -101.02120129477706, + 354.342325689565, + -2.9741873931122127 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -101.02120129477706, + 357.342325689565, + -2.9741873931122127 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -101.02120129477706, + 357.342325689565, + -2.9741873931122127 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -102.52120129477706, + 359.9404019009183, + -2.9741873931122127 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -104.02120129477706, + 362.5384781122716, + -2.9741873931122127 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -105.52120129477706, + 365.1365543236249, + -2.9741873931122127 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -107.02120129477706, + 367.73463053497824, + -2.9741873931122127 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -108.52120129477706, + 370.33270674633155, + -2.9741873931122127 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -110.02120129477706, + 372.93078295768487, + -2.9741873931122127 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -111.52120129477706, + 375.5288591690382, + -2.9741873931122127 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -113.02120129477706, + 378.1269353803915, + -2.9741873931122127 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -114.1546768951416, + 378.73713836669924, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-49-17_2126966692/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-49-17_2126966692/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..60bc6c5abe401ee4b388e8da1c0e6bf08441b9cf --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-49-17_2126966692/pose.jsonl @@ -0,0 +1,508 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -68.06400531103994, + -453.0669228412169, + 1.136480930233037 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -71.06400531103994, + -453.0669228412169, + 1.136480930233037 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -74.06400531103994, + -453.0669228412169, + 1.136480930233037 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -77.06400531103994, + -453.0669228412169, + 1.136480930233037 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -80.06400531103994, + -453.0669228412169, + 1.136480930233037 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -83.06400531103994, + -453.0669228412169, + 1.136480930233037 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -86.06400531103994, + -453.0669228412169, + 1.136480930233037 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -89.06400531103994, + -453.0669228412169, + 1.136480930233037 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -92.06400531103994, + -453.0669228412169, + 1.136480930233037 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -95.06400531103994, + -453.0669228412169, + 1.136480930233037 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -98.06400531103994, + -453.0669228412169, + 1.136480930233037 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -101.06400531103994, + -453.0669228412169, + 1.136480930233037 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -104.06400531103994, + -453.0669228412169, + 1.136480930233037 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -107.06400531103994, + -453.0669228412169, + 1.136480930233037 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -110.06400531103994, + -453.0669228412169, + 1.136480930233037 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -113.06400531103994, + -453.0669228412169, + 1.136480930233037 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -116.06400531103994, + -453.0669228412169, + 1.136480930233037 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -119.06400531103994, + -453.0669228412169, + 1.136480930233037 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -122.06400531103994, + -453.0669228412169, + 1.136480930233037 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -125.06400531103994, + -453.0669228412169, + 1.136480930233037 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -128.06400531103992, + -453.0669228412169, + 1.136480930233037 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -131.06400531103992, + -453.0669228412169, + 1.136480930233037 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -134.06400531103992, + -453.0669228412169, + 1.136480930233037 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -137.06400531103992, + -453.0669228412169, + 1.136480930233037 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -140.06400531103992, + -453.0669228412169, + 1.136480930233037 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -143.06400531103992, + -453.0669228412169, + 1.136480930233037 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -146.06400531103992, + -453.0669228412169, + 1.136480930233037 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -149.06400531103992, + -453.0669228412169, + 1.136480930233037 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -149.06400531103992, + -453.0669228412169, + 1.136480930233037 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -151.66208152239324, + -454.5669228412169, + 1.136480930233037 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -154.26015773374655, + -456.0669228412169, + 1.136480930233037 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -156.85823394509987, + -457.5669228412169, + 1.136480930233037 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -159.45631015645318, + -459.0669228412169, + 1.136480930233037 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -162.0543863678065, + -460.5669228412169, + 1.136480930233037 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -164.65246257915982, + -462.0669228412169, + 1.136480930233037 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -167.25053879051313, + -463.5669228412169, + 1.136480930233037 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -169.84861500186645, + -465.0669228412169, + 1.136480930233037 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -172.44669121321976, + -466.5669228412169, + 1.136480930233037 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -175.02334197998047, + -467.78616867065426, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-50-20_294833428/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-50-20_294833428/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e02eda04b57a602768fbff297a11a57bb061a8c0 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-50-20_294833428/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 352.7833674055921, + -20.537732117406236, + -4.3415697787891645 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 352.7833674055921, + -23.537732117406236, + -4.3415697787891645 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 352.7833674055921, + -26.537732117406236, + -4.3415697787891645 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 352.7833674055921, + -29.537732117406236, + -4.3415697787891645 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 352.7833674055921, + -32.537732117406236, + -4.3415697787891645 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 352.7833674055921, + -35.537732117406236, + -4.3415697787891645 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 352.7833674055921, + -38.537732117406236, + -4.3415697787891645 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 352.7833674055921, + -41.537732117406236, + -4.3415697787891645 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 352.7833674055921, + -44.537732117406236, + -4.3415697787891645 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 352.7833674055921, + -47.537732117406236, + -4.3415697787891645 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 352.7833674055921, + -50.537732117406236, + -4.3415697787891645 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 352.7833674055921, + -53.537732117406236, + -4.3415697787891645 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 352.7833674055921, + -56.537732117406236, + -4.3415697787891645 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 352.7833674055921, + -59.537732117406236, + -4.3415697787891645 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 352.7833674055921, + -62.537732117406236, + -4.3415697787891645 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 352.7833674055921, + -65.53773211740624, + -4.3415697787891645 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 352.7833674055921, + -68.53773211740624, + -4.3415697787891645 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 352.7833674055921, + -71.53773211740624, + -4.3415697787891645 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 352.7833674055921, + -71.53773211740624, + -4.3415697787891645 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 352.7833674055921, + -71.53773211740624, + -4.3415697787891645 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 355.38144361694543, + -73.03773211740624, + -4.3415697787891645 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 357.97951982829875, + -74.53773211740624, + -4.3415697787891645 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 357.97951982829875, + -74.53773211740624, + -4.3415697787891645 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 359.47951982829875, + -77.13580832875955, + -4.3415697787891645 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965976 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 361.61789932250974, + -80.46325607299805, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-55-4_1051760182/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-55-4_1051760182/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..64b890e195fe1aca2e38b4e0699f637f738c00eb --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-55-4_1051760182/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 120.18040224076668, + -357.973228431646, + 1.3973865944920973 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 121.68040224076668, + -355.3751522202927, + 1.3973865944920973 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 123.18040224076668, + -352.7770760089394, + 1.3973865944920973 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 124.68040224076668, + -350.1789997975861, + 1.3973865944920973 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 126.18040224076668, + -347.58092358623276, + 1.3973865944920973 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 127.68040224076668, + -344.98284737487944, + 1.3973865944920973 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 129.18040224076668, + -342.3847711635261, + 1.3973865944920973 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 130.68040224076668, + -339.7866949521728, + 1.3973865944920973 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 132.18040224076668, + -337.1886187408195, + 1.3973865944920973 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 133.68040224076668, + -334.5905425294662, + 1.3973865944920973 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 135.18040224076668, + -331.99246631811286, + 1.3973865944920973 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 136.68040224076668, + -329.39439010675954, + 1.3973865944920973 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 138.18040224076668, + -326.79631389540623, + 1.3973865944920973 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 139.68040224076668, + -324.1982376840529, + 1.3973865944920973 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 141.18040224076668, + -321.6001614726996, + 1.3973865944920973 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 142.68040224076668, + -319.0020852613463, + 1.3973865944920973 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 144.18040224076668, + -316.40400904999296, + 1.3973865944920973 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 145.68040224076668, + -313.80593283863965, + 1.3973865944920973 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 147.18040224076668, + -311.20785662728633, + 1.3973865944920973 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 148.68040224076668, + -308.609780415933, + 1.3973865944920973 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 148.68040224076668, + -308.609780415933, + 1.3973865944920973 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 151.27847845212, + -307.109780415933, + 1.3973865944920973 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 153.8765546634733, + -305.609780415933, + 1.3973865944920973 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 156.47463087482663, + -304.109780415933, + 1.3973865944920973 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 156.50516716003418, + -301.9973617553711, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-57-23_1669817857/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-57-23_1669817857/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..695776284df50a49c35a32ada2c70b99a750d391 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-57-23_1669817857/pose.jsonl @@ -0,0 +1,274 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -970.5342172373014, + 225.49034891957348, + -4.026287412693997 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -972.0342172373014, + 228.0884251309268, + -4.026287412693997 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -973.5342172373014, + 230.6865013422801, + -4.026287412693997 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -975.0342172373014, + 233.28457755363343, + -4.026287412693997 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -976.5342172373014, + 235.88265376498674, + -4.026287412693997 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -978.0342172373014, + 238.48072997634006, + -4.026287412693997 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -979.5342172373014, + 241.07880618769337, + -4.026287412693997 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -981.0342172373014, + 243.6768823990467, + -4.026287412693997 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -982.5342172373014, + 246.2749586104, + -4.026287412693997 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -984.0342172373014, + 248.87303482175332, + -4.026287412693997 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -985.5342172373014, + 251.47111103310664, + -4.026287412693997 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -987.0342172373014, + 254.06918724445995, + -4.026287412693997 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -988.5342172373014, + 256.66726345581327, + -4.026287412693997 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -990.0342172373014, + 259.2653396671666, + -4.026287412693997 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -991.5342172373014, + 261.8634158785199, + -4.026287412693997 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -993.0342172373014, + 264.4614920898732, + -4.026287412693997 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -994.5342172373014, + 267.05956830122653, + -4.026287412693997 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -996.0342172373014, + 269.65764451257985, + -4.026287412693997 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -997.5342172373014, + 272.25572072393317, + -4.026287412693997 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -999.0342172373014, + 274.8537969352865, + -4.026287412693997 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1002.9734149169922, + 277.3824105834961, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-9-26_1770479279/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-9-26_1770479279/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a67de4f1971f4d1098b19472d8c138f959f5bce9 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-9-26_1770479279/pose.jsonl @@ -0,0 +1,417 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -258.269143379712, + 744.550679391543, + -1.0387401971560157 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -256.769143379712, + 741.9526031801897, + -1.0387401971560157 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -255.26914337971198, + 739.3545269688364, + -1.0387401971560157 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -253.76914337971198, + 736.756450757483, + -1.0387401971560157 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -252.26914337971198, + 734.1583745461296, + -1.0387401971560157 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -250.76914337971198, + 731.5602983347762, + -1.0387401971560157 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -249.26914337971198, + 728.9622221234229, + -1.0387401971560157 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -247.76914337971198, + 726.3641459120695, + -1.0387401971560157 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -246.26914337971198, + 723.7660697007161, + -1.0387401971560157 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -244.76914337971198, + 721.1679934893627, + -1.0387401971560157 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -243.26914337971198, + 718.5699172780094, + -1.0387401971560157 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -241.76914337971198, + 715.971841066656, + -1.0387401971560157 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -240.26914337971198, + 713.3737648553026, + -1.0387401971560157 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -238.76914337971198, + 710.7756886439493, + -1.0387401971560157 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -237.26914337971198, + 708.1776124325959, + -1.0387401971560157 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -235.76914337971198, + 705.5795362212425, + -1.0387401971560157 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -234.26914337971198, + 702.9814600098891, + -1.0387401971560157 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -232.76914337971198, + 700.3833837985358, + -1.0387401971560157 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -231.26914337971198, + 697.7853075871824, + -1.0387401971560157 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -229.76914337971198, + 695.187231375829, + -1.0387401971560157 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -228.26914337971198, + 692.5891551644756, + -1.0387401971560157 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -228.26914337971198, + 692.5891551644756, + -1.0387401971560157 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -228.26914337971198, + 689.5891551644756, + -1.0387401971560157 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -228.26914337971198, + 686.5891551644756, + -1.0387401971560157 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -228.26914337971198, + 683.5891551644756, + -1.0387401971560157 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -228.26914337971198, + 680.5891551644756, + -1.0387401971560157 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -228.26914337971198, + 677.5891551644756, + -1.0387401971560157 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -228.26914337971198, + 674.5891551644756, + -1.0387401971560157 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -228.26914337971198, + 671.5891551644756, + -1.0387401971560157 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -228.26914337971198, + 668.5891551644756, + -1.0387401971560157 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -228.26914337971198, + 665.5891551644756, + -1.0387401971560157 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -227.7933927154541, + 663.3823291015625, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-1-46_607165449/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-1-46_607165449/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..86fc5f2666e1bf3f81c29d2b535d54267f7dce0a --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-1-46_607165449/pose.jsonl @@ -0,0 +1,508 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 193.3530205102498, + -402.17206524452246, + -4.6445197030022705 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 191.8530205102498, + -399.57398903316914, + -4.6445197030022705 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 190.3530205102498, + -396.9759128218158, + -4.6445197030022705 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 188.8530205102498, + -394.3778366104625, + -4.6445197030022705 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 187.3530205102498, + -391.7797603991092, + -4.6445197030022705 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 185.8530205102498, + -389.1816841877559, + -4.6445197030022705 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 184.3530205102498, + -386.58360797640256, + -4.6445197030022705 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 182.8530205102498, + -383.98553176504925, + -4.6445197030022705 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 181.3530205102498, + -381.38745555369593, + -4.6445197030022705 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 179.8530205102498, + -378.7893793423426, + -4.6445197030022705 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 178.3530205102498, + -376.1913031309893, + -4.6445197030022705 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 176.8530205102498, + -373.593226919636, + -4.6445197030022705 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 175.3530205102498, + -370.99515070828267, + -4.6445197030022705 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 173.8530205102498, + -368.39707449692935, + -4.6445197030022705 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 172.3530205102498, + -365.79899828557603, + -4.6445197030022705 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 170.8530205102498, + -363.2009220742227, + -4.6445197030022705 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 169.3530205102498, + -360.6028458628694, + -4.6445197030022705 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 167.8530205102498, + -358.0047696515161, + -4.6445197030022705 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 166.3530205102498, + -355.40669344016277, + -4.6445197030022705 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 164.8530205102498, + -352.80861722880945, + -4.6445197030022705 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 163.3530205102498, + -350.21054101745614, + -4.6445197030022705 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 161.8530205102498, + -347.6124648061028, + -4.6445197030022705 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 160.3530205102498, + -345.0143885947495, + -4.6445197030022705 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 158.8530205102498, + -342.4163123833962, + -4.6445197030022705 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 157.3530205102498, + -339.8182361720429, + -4.6445197030022705 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 155.8530205102498, + -337.22015996068956, + -4.6445197030022705 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 155.8530205102498, + -337.22015996068956, + -4.6445197030022705 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 155.8530205102498, + -334.22015996068956, + -4.6445197030022705 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 155.8530205102498, + -331.22015996068956, + -4.6445197030022705 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 155.8530205102498, + -328.22015996068956, + -4.6445197030022705 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 155.8530205102498, + -325.22015996068956, + -4.6445197030022705 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 155.8530205102498, + -322.22015996068956, + -4.6445197030022705 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 155.8530205102498, + -319.22015996068956, + -4.6445197030022705 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 155.8530205102498, + -316.22015996068956, + -4.6445197030022705 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 155.8530205102498, + -313.22015996068956, + -4.6445197030022705 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 155.8530205102498, + -310.22015996068956, + -4.6445197030022705 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 155.8530205102498, + -307.22015996068956, + -4.6445197030022705 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 155.8530205102498, + -304.22015996068956, + -4.6445197030022705 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 156.50516716003418, + -301.9973617553711, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-10-49_669635244/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-10-49_669635244/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b624611530997a3a8b847c5541e83005fa5f7682 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-10-49_669635244/pose.jsonl @@ -0,0 +1,508 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -714.3780679897135, + 346.81088830174, + -4.045882392307728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -714.3780679897135, + 343.81088830174, + -4.045882392307728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -714.3780679897135, + 340.81088830174, + -4.045882392307728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -714.3780679897135, + 337.81088830174, + -4.045882392307728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -714.3780679897135, + 334.81088830174, + -4.045882392307728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -714.3780679897135, + 331.81088830174, + -4.045882392307728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -714.3780679897135, + 328.81088830174, + -4.045882392307728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -714.3780679897135, + 325.81088830174, + -4.045882392307728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -714.3780679897135, + 322.81088830174, + -4.045882392307728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -714.3780679897135, + 319.81088830174, + -4.045882392307728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -714.3780679897135, + 316.81088830174, + -4.045882392307728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -714.3780679897135, + 313.81088830174, + -4.045882392307728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -714.3780679897135, + 310.81088830174, + -4.045882392307728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -714.3780679897135, + 307.81088830174, + -4.045882392307728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -714.3780679897135, + 304.81088830174, + -4.045882392307728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -714.3780679897135, + 301.81088830174, + -4.045882392307728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -714.3780679897135, + 298.81088830174, + -4.045882392307728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -714.3780679897135, + 295.81088830174, + -4.045882392307728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -714.3780679897135, + 292.81088830174, + -4.045882392307728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -714.3780679897135, + 289.81088830174, + -4.045882392307728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -714.3780679897135, + 286.81088830174, + -4.045882392307728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -714.3780679897135, + 283.81088830174, + -4.045882392307728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -714.3780679897135, + 280.81088830174, + -4.045882392307728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -714.3780679897135, + 277.81088830174, + -4.045882392307728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -714.3780679897135, + 274.81088830174, + -4.045882392307728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -714.3780679897135, + 271.81088830174, + -4.045882392307728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -714.3780679897135, + 268.81088830174, + -4.045882392307728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -714.3780679897135, + 265.81088830174, + -4.045882392307728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -714.3780679897135, + 262.81088830174, + -4.045882392307728 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -714.3780679897135, + 262.81088830174, + -4.045882392307728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -712.8780679897135, + 260.2128120903867, + -4.045882392307728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -711.3780679897135, + 257.6147358790334, + -4.045882392307728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -709.8780679897135, + 255.01665966768007, + -4.045882392307728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -708.3780679897135, + 252.41858345632676, + -4.045882392307728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -706.8780679897135, + 249.82050724497344, + -4.045882392307728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -705.3780679897135, + 247.22243103362013, + -4.045882392307728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -703.8780679897135, + 244.6243548222668, + -4.045882392307728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -702.3780679897135, + 242.0262786109135, + -4.045882392307728 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -701.6309753417969, + 238.16310417175293, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-19-38_1877057460/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-19-38_1877057460/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..978477855f8dd69cecabbe454e804eeef5d9e771 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-19-38_1877057460/pose.jsonl @@ -0,0 +1,352 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -746.9194392298392, + 273.99999541238867, + 0.009610209269553138 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -743.9194392298392, + 273.99999541238867, + 0.009610209269553138 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -740.9194392298392, + 273.99999541238867, + 0.009610209269553138 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -737.9194392298392, + 273.99999541238867, + 0.009610209269553138 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -734.9194392298392, + 273.99999541238867, + 0.009610209269553138 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -731.9194392298392, + 273.99999541238867, + 0.009610209269553138 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -728.9194392298392, + 273.99999541238867, + 0.009610209269553138 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -725.9194392298392, + 273.99999541238867, + 0.009610209269553138 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -722.9194392298392, + 273.99999541238867, + 0.009610209269553138 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -719.9194392298392, + 273.99999541238867, + 0.009610209269553138 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -716.9194392298392, + 273.99999541238867, + 0.009610209269553138 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -713.9194392298392, + 273.99999541238867, + 0.009610209269553138 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -710.9194392298392, + 273.99999541238867, + 0.009610209269553138 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -707.9194392298392, + 273.99999541238867, + 0.009610209269553138 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -704.9194392298392, + 273.99999541238867, + 0.009610209269553138 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -701.9194392298392, + 273.99999541238867, + 0.009610209269553138 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -698.9194392298392, + 273.99999541238867, + 0.009610209269553138 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -695.9194392298392, + 273.99999541238867, + 0.009610209269553138 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -692.9194392298392, + 273.99999541238867, + 0.009610209269553138 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -689.9194392298392, + 273.99999541238867, + 0.009610209269553138 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -686.9194392298392, + 273.99999541238867, + 0.009610209269553138 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -683.9194392298392, + 273.99999541238867, + 0.009610209269553138 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -680.9194392298392, + 273.99999541238867, + 0.009610209269553138 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -677.9194392298392, + 273.99999541238867, + 0.009610209269553138 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -674.9194392298392, + 273.99999541238867, + 0.009610209269553138 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -671.9194392298392, + 273.99999541238867, + 0.009610209269553138 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -669.1686190795898, + 276.07490257263186, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-21-2_1778219419/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-21-2_1778219419/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..beb4ccbd1f3605cbf379ea215639376eac7eadbf --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-21-2_1778219419/pose.jsonl @@ -0,0 +1,534 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -881.6962034515062, + 39.260581619703814, + -1.8573785166873327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -878.6962034515062, + 39.260581619703814, + -1.8573785166873327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -875.6962034515062, + 39.260581619703814, + -1.8573785166873327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -872.6962034515062, + 39.260581619703814, + -1.8573785166873327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -869.6962034515062, + 39.260581619703814, + -1.8573785166873327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -866.6962034515062, + 39.260581619703814, + -1.8573785166873327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -863.6962034515062, + 39.260581619703814, + -1.8573785166873327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -860.6962034515062, + 39.260581619703814, + -1.8573785166873327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -857.6962034515062, + 39.260581619703814, + -1.8573785166873327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -854.6962034515062, + 39.260581619703814, + -1.8573785166873327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -851.6962034515062, + 39.260581619703814, + -1.8573785166873327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -848.6962034515062, + 39.260581619703814, + -1.8573785166873327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -845.6962034515062, + 39.260581619703814, + -1.8573785166873327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -842.6962034515062, + 39.260581619703814, + -1.8573785166873327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -839.6962034515062, + 39.260581619703814, + -1.8573785166873327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -836.6962034515062, + 39.260581619703814, + -1.8573785166873327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -833.6962034515062, + 39.260581619703814, + -1.8573785166873327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -830.6962034515062, + 39.260581619703814, + -1.8573785166873327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -827.6962034515062, + 39.260581619703814, + -1.8573785166873327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -824.6962034515062, + 39.260581619703814, + -1.8573785166873327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -821.6962034515062, + 39.260581619703814, + -1.8573785166873327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -818.6962034515062, + 39.260581619703814, + -1.8573785166873327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -815.6962034515062, + 39.260581619703814, + -1.8573785166873327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -812.6962034515062, + 39.260581619703814, + -1.8573785166873327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -809.6962034515062, + 39.260581619703814, + -1.8573785166873327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -806.6962034515062, + 39.260581619703814, + -1.8573785166873327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -803.6962034515062, + 39.260581619703814, + -1.8573785166873327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -800.6962034515062, + 39.260581619703814, + -1.8573785166873327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -797.6962034515062, + 39.260581619703814, + -1.8573785166873327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -794.6962034515062, + 39.260581619703814, + -1.8573785166873327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -791.6962034515062, + 39.260581619703814, + -1.8573785166873327 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -791.6962034515062, + 39.260581619703814, + -1.8573785166873327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -789.098127240153, + 40.760581619703814, + -1.8573785166873327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -786.5000510287996, + 42.260581619703814, + -1.8573785166873327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -783.9019748174462, + 43.760581619703814, + -1.8573785166873327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -781.3038986060928, + 45.260581619703814, + -1.8573785166873327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -778.7058223947395, + 46.760581619703814, + -1.8573785166873327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -776.1077461833861, + 48.260581619703814, + -1.8573785166873327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -773.5096699720327, + 49.760581619703814, + -1.8573785166873327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -770.9115937606794, + 51.260581619703814, + -1.8573785166873327 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -768.8232287597656, + 49.617736358642574, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-24-11_581101110/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-24-11_581101110/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a1119261820fecef5d8b85451278ecc07840adc8 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-24-11_581101110/pose.jsonl @@ -0,0 +1,417 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -605.1681217125539, + 153.8962303217366, + 3.722420623646931 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -606.6681217125539, + 151.29815411038328, + 3.722420623646931 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -608.1681217125539, + 148.70007789902996, + 3.722420623646931 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -609.6681217125539, + 146.10200168767665, + 3.722420623646931 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -611.1681217125539, + 143.50392547632333, + 3.722420623646931 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -612.6681217125539, + 140.90584926497002, + 3.722420623646931 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -614.1681217125539, + 138.3077730536167, + 3.722420623646931 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -615.6681217125539, + 135.70969684226338, + 3.722420623646931 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -617.1681217125539, + 133.11162063091007, + 3.722420623646931 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -618.6681217125539, + 130.51354441955675, + 3.722420623646931 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -620.1681217125539, + 127.91546820820344, + 3.722420623646931 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -621.6681217125539, + 125.31739199685012, + 3.722420623646931 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -623.1681217125539, + 122.7193157854968, + 3.722420623646931 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -624.6681217125539, + 120.12123957414349, + 3.722420623646931 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -626.1681217125539, + 117.52316336279017, + 3.722420623646931 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -627.6681217125539, + 114.92508715143686, + 3.722420623646931 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -629.1681217125539, + 112.32701094008354, + 3.722420623646931 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -630.6681217125539, + 109.72893472873022, + 3.722420623646931 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -632.1681217125539, + 107.13085851737691, + 3.722420623646931 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -633.6681217125539, + 104.53278230602359, + 3.722420623646931 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -635.1681217125539, + 101.93470609467028, + 3.722420623646931 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -636.6681217125539, + 99.33662988331696, + 3.722420623646931 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -638.1681217125539, + 96.73855367196364, + 3.722420623646931 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -639.6681217125539, + 94.14047746061033, + 3.722420623646931 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -641.1681217125539, + 91.54240124925701, + 3.722420623646931 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -641.1681217125539, + 91.54240124925701, + 3.722420623646931 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -643.7661979239072, + 90.04240124925701, + 3.722420623646931 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -646.3642741352605, + 88.54240124925701, + 3.722420623646931 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -648.9623503466139, + 87.04240124925701, + 3.722420623646931 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -651.5604265579673, + 85.54240124925701, + 3.722420623646931 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -654.1585027693206, + 84.04240124925701, + 3.722420623646931 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -655.7620668029786, + 80.36062210083007, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-27-32_1832162286/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-27-32_1832162286/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9537324896c5db11bf32ad84eaa027d832490b78 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-27-32_1832162286/pose.jsonl @@ -0,0 +1,521 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 259.2210455991556, + -35.243853407252466, + 3.873557418720557 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 262.2210455991556, + -35.243853407252466, + 3.873557418720557 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 265.2210455991556, + -35.243853407252466, + 3.873557418720557 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 268.2210455991556, + -35.243853407252466, + 3.873557418720557 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 271.2210455991556, + -35.243853407252466, + 3.873557418720557 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 274.2210455991556, + -35.243853407252466, + 3.873557418720557 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 277.2210455991556, + -35.243853407252466, + 3.873557418720557 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 280.2210455991556, + -35.243853407252466, + 3.873557418720557 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 283.2210455991556, + -35.243853407252466, + 3.873557418720557 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 283.2210455991556, + -35.243853407252466, + 3.873557418720557 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 285.81912181050893, + -36.743853407252466, + 3.873557418720557 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 288.41719802186225, + -38.243853407252466, + 3.873557418720557 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 291.01527423321556, + -39.743853407252466, + 3.873557418720557 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 293.6133504445689, + -41.243853407252466, + 3.873557418720557 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 296.2114266559222, + -42.743853407252466, + 3.873557418720557 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 298.8095028672755, + -44.243853407252466, + 3.873557418720557 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 301.4075790786288, + -45.743853407252466, + 3.873557418720557 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 304.00565528998214, + -47.243853407252466, + 3.873557418720557 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 306.60373150133546, + -48.743853407252466, + 3.873557418720557 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 309.2018077126888, + -50.243853407252466, + 3.873557418720557 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 311.7998839240421, + -51.743853407252466, + 3.873557418720557 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 314.3979601353954, + -53.243853407252466, + 3.873557418720557 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 316.9960363467487, + -54.743853407252466, + 3.873557418720557 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 319.59411255810204, + -56.243853407252466, + 3.873557418720557 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 322.19218876945536, + -57.743853407252466, + 3.873557418720557 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 324.7902649808087, + -59.243853407252466, + 3.873557418720557 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 327.388341192162, + -60.743853407252466, + 3.873557418720557 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 329.9864174035153, + -62.243853407252466, + 3.873557418720557 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 332.5844936148686, + -63.743853407252466, + 3.873557418720557 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 335.18256982622194, + -65.24385340725246, + 3.873557418720557 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982968 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 337.78064603757525, + -66.74385340725246, + 3.873557418720557 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 340.37872224892857, + -68.24385340725246, + 3.873557418720557 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 342.9767984602819, + -69.74385340725246, + 3.873557418720557 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 345.5748746716352, + -71.24385340725246, + 3.873557418720557 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 348.1729508829885, + -72.74385340725246, + 3.873557418720557 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 350.77102709434183, + -74.24385340725246, + 3.873557418720557 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 353.36910330569515, + -75.74385340725246, + 3.873557418720557 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 355.96717951704846, + -77.24385340725246, + 3.873557418720557 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 358.5652557284018, + -78.74385340725246, + 3.873557418720557 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 361.61789932250974, + -80.46325607299805, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-33-25_17137166/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-33-25_17137166/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8d0cb90f611a06caeae20516bd97d4dd1f44f925 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-33-25_17137166/pose.jsonl @@ -0,0 +1,573 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -773.3186022729936, + -6.101251769834143, + 2.0506922207170426 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -770.3186022729936, + -6.101251769834143, + 2.0506922207170426 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -767.3186022729936, + -6.101251769834143, + 2.0506922207170426 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -764.3186022729936, + -6.101251769834143, + 2.0506922207170426 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -761.3186022729936, + -6.101251769834143, + 2.0506922207170426 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -758.3186022729936, + -6.101251769834143, + 2.0506922207170426 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -755.3186022729936, + -6.101251769834143, + 2.0506922207170426 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -752.3186022729936, + -6.101251769834143, + 2.0506922207170426 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -749.3186022729936, + -6.101251769834143, + 2.0506922207170426 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -746.3186022729936, + -6.101251769834143, + 2.0506922207170426 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -743.3186022729936, + -6.101251769834143, + 2.0506922207170426 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -740.3186022729936, + -6.101251769834143, + 2.0506922207170426 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -737.3186022729936, + -6.101251769834143, + 2.0506922207170426 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -734.3186022729936, + -6.101251769834143, + 2.0506922207170426 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -731.3186022729936, + -6.101251769834143, + 2.0506922207170426 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -728.3186022729936, + -6.101251769834143, + 2.0506922207170426 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -725.3186022729936, + -6.101251769834143, + 2.0506922207170426 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -722.3186022729936, + -6.101251769834143, + 2.0506922207170426 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -719.3186022729936, + -6.101251769834143, + 2.0506922207170426 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -716.3186022729936, + -6.101251769834143, + 2.0506922207170426 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -713.3186022729936, + -6.101251769834143, + 2.0506922207170426 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -710.3186022729936, + -6.101251769834143, + 2.0506922207170426 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -707.3186022729936, + -6.101251769834143, + 2.0506922207170426 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -704.3186022729936, + -6.101251769834143, + 2.0506922207170426 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -701.3186022729936, + -6.101251769834143, + 2.0506922207170426 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -698.3186022729936, + -6.101251769834143, + 2.0506922207170426 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -695.3186022729936, + -6.101251769834143, + 2.0506922207170426 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -692.3186022729936, + -6.101251769834143, + 2.0506922207170426 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -689.3186022729936, + -6.101251769834143, + 2.0506922207170426 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -686.3186022729936, + -6.101251769834143, + 2.0506922207170426 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -683.3186022729936, + -6.101251769834143, + 2.0506922207170426 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -683.3186022729936, + -6.101251769834143, + 2.0506922207170426 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -683.3186022729936, + -6.101251769834143, + 2.0506922207170426 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -681.8186022729936, + -3.5031755584808266, + 2.0506922207170426 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -680.3186022729936, + -0.9050993471275106, + 2.0506922207170426 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -678.8186022729936, + 1.6929768642258054, + 2.0506922207170426 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -677.3186022729936, + 4.291053075579121, + 2.0506922207170426 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -675.8186022729936, + 6.889129286932437, + 2.0506922207170426 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -674.3186022729936, + 9.487205498285753, + 2.0506922207170426 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -672.8186022729936, + 12.08528170963907, + 2.0506922207170426 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -672.8186022729936, + 12.08528170963907, + 2.0506922207170426 + ], + "type": "turn right", + "value": 30, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -672.8186022729936, + 12.08528170963907, + 2.0506922207170426 + ], + "type": "go straight", + "value": 3, + "yaw": 2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -669.8186022729936, + 12.08528170963907, + 2.0506922207170426 + ], + "type": "stop", + "value": 0, + "yaw": 2.220446049250313e-16 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -667.3111592102051, + 12.556017684936524, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-34-25_1233934451/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-34-25_1233934451/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a8ebc223eb55d98f0bdf6087fada0a121aaf1400 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-34-25_1233934451/pose.jsonl @@ -0,0 +1,521 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -732.8503636743958, + 157.51883231928704, + -2.412661372517782 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -731.3503636743958, + 160.11690853064036, + -2.412661372517782 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -729.8503636743958, + 162.71498474199367, + -2.412661372517782 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -728.3503636743958, + 165.313060953347, + -2.412661372517782 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -726.8503636743958, + 167.9111371647003, + -2.412661372517782 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -725.3503636743958, + 170.50921337605362, + -2.412661372517782 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -723.8503636743958, + 173.10728958740694, + -2.412661372517782 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -722.3503636743958, + 175.70536579876025, + -2.412661372517782 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -720.8503636743958, + 178.30344201011357, + -2.412661372517782 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -719.3503636743958, + 180.9015182214669, + -2.412661372517782 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -717.8503636743958, + 183.4995944328202, + -2.412661372517782 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -716.3503636743958, + 186.09767064417352, + -2.412661372517782 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -714.8503636743958, + 188.69574685552683, + -2.412661372517782 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -713.3503636743958, + 191.29382306688015, + -2.412661372517782 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -711.8503636743958, + 193.89189927823347, + -2.412661372517782 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -710.3503636743958, + 196.48997548958678, + -2.412661372517782 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -708.8503636743958, + 199.0880517009401, + -2.412661372517782 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -707.3503636743958, + 201.68612791229341, + -2.412661372517782 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -705.8503636743958, + 204.28420412364673, + -2.412661372517782 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -704.3503636743958, + 206.88228033500005, + -2.412661372517782 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -702.8503636743958, + 209.48035654635336, + -2.412661372517782 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -701.3503636743958, + 212.07843275770668, + -2.412661372517782 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -699.8503636743958, + 214.67650896906, + -2.412661372517782 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -698.3503636743958, + 217.2745851804133, + -2.412661372517782 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -696.8503636743958, + 219.87266139176663, + -2.412661372517782 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -695.3503636743958, + 222.47073760311994, + -2.412661372517782 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -693.8503636743958, + 225.06881381447326, + -2.412661372517782 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -692.3503636743958, + 227.66689002582658, + -2.412661372517782 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -690.8503636743958, + 230.2649662371799, + -2.412661372517782 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -689.3503636743958, + 232.8630424485332, + -2.412661372517782 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -687.8503636743958, + 235.46111865988652, + -2.412661372517782 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -687.8503636743958, + 235.46111865988652, + -2.412661372517782 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -687.8503636743958, + 238.46111865988652, + -2.412661372517782 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -687.8503636743958, + 241.46111865988652, + -2.412661372517782 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -687.8503636743958, + 244.46111865988652, + -2.412661372517782 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -687.8503636743958, + 247.46111865988652, + -2.412661372517782 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -687.8503636743958, + 250.46111865988652, + -2.412661372517782 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -687.8503636743958, + 253.46111865988652, + -2.412661372517782 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -687.8503636743958, + 256.46111865988655, + -2.412661372517782 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -686.6680834960937, + 258.1570868682861, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-34-43_1325366596/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-34-43_1325366596/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f9661bcd5240a0c5cf51c688642b9acbf0c7e465 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-34-43_1325366596/pose.jsonl @@ -0,0 +1,482 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -303.58571592620007, + -125.00917856294274, + -1.7849062045939053 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -306.1837921375534, + -126.50917856294274, + -1.7849062045939053 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -308.7818683489067, + -128.00917856294274, + -1.7849062045939053 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -311.37994456026, + -129.50917856294274, + -1.7849062045939053 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -313.97802077161333, + -131.00917856294274, + -1.7849062045939053 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -316.57609698296665, + -132.50917856294274, + -1.7849062045939053 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -319.17417319431996, + -134.00917856294274, + -1.7849062045939053 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -321.7722494056733, + -135.50917856294274, + -1.7849062045939053 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -324.3703256170266, + -137.00917856294274, + -1.7849062045939053 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -326.9684018283799, + -138.50917856294274, + -1.7849062045939053 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -329.5664780397332, + -140.00917856294274, + -1.7849062045939053 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -332.16455425108654, + -141.50917856294274, + -1.7849062045939053 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -334.76263046243986, + -143.00917856294274, + -1.7849062045939053 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -337.3607066737932, + -144.50917856294274, + -1.7849062045939053 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -339.9587828851465, + -146.00917856294274, + -1.7849062045939053 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -342.5568590964998, + -147.50917856294274, + -1.7849062045939053 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -345.1549353078531, + -149.00917856294274, + -1.7849062045939053 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -347.75301151920644, + -150.50917856294274, + -1.7849062045939053 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -350.35108773055975, + -152.00917856294274, + -1.7849062045939053 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -352.94916394191307, + -153.50917856294274, + -1.7849062045939053 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -355.5472401532664, + -155.00917856294274, + -1.7849062045939053 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -358.1453163646197, + -156.50917856294274, + -1.7849062045939053 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -360.743392575973, + -158.00917856294274, + -1.7849062045939053 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -363.34146878732633, + -159.50917856294274, + -1.7849062045939053 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -365.93954499867965, + -161.00917856294274, + -1.7849062045939053 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -368.53762121003297, + -162.50917856294274, + -1.7849062045939053 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -371.1356974213863, + -164.00917856294274, + -1.7849062045939053 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -373.7337736327396, + -165.50917856294274, + -1.7849062045939053 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -376.3318498440929, + -167.00917856294274, + -1.7849062045939053 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -378.92992605544623, + -168.50917856294274, + -1.7849062045939053 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -381.52800226679955, + -170.00917856294274, + -1.7849062045939053 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -384.12607847815286, + -171.50917856294274, + -1.7849062045939053 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -386.7241546895062, + -173.00917856294274, + -1.7849062045939053 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -389.3222309008595, + -174.50917856294274, + -1.7849062045939053 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -391.9203071122128, + -176.00917856294274, + -1.7849062045939053 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -394.5183833235661, + -177.50917856294274, + -1.7849062045939053 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -395.0994828796387, + -178.58960372924804, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-37-58_1184868399/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-37-58_1184868399/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b2cc2f9338fb718362328d998c93cb3385f6776b --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-37-58_1184868399/pose.jsonl @@ -0,0 +1,404 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -692.1520960331411, + 320.3608593531402, + 0.918206148273053 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -692.1520960331411, + 317.3608593531402, + 0.918206148273053 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -692.1520960331411, + 314.3608593531402, + 0.918206148273053 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -692.1520960331411, + 311.3608593531402, + 0.918206148273053 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -692.1520960331411, + 308.3608593531402, + 0.918206148273053 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -692.1520960331411, + 305.3608593531402, + 0.918206148273053 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -692.1520960331411, + 302.3608593531402, + 0.918206148273053 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -692.1520960331411, + 299.3608593531402, + 0.918206148273053 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -692.1520960331411, + 296.3608593531402, + 0.918206148273053 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -692.1520960331411, + 293.3608593531402, + 0.918206148273053 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -692.1520960331411, + 290.3608593531402, + 0.918206148273053 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -692.1520960331411, + 287.3608593531402, + 0.918206148273053 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -692.1520960331411, + 284.3608593531402, + 0.918206148273053 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -692.1520960331411, + 281.3608593531402, + 0.918206148273053 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -692.1520960331411, + 278.3608593531402, + 0.918206148273053 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -692.1520960331411, + 275.3608593531402, + 0.918206148273053 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -692.1520960331411, + 272.3608593531402, + 0.918206148273053 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -692.1520960331411, + 269.3608593531402, + 0.918206148273053 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -692.1520960331411, + 266.3608593531402, + 0.918206148273053 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -692.1520960331411, + 263.3608593531402, + 0.918206148273053 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -692.1520960331411, + 260.3608593531402, + 0.918206148273053 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -692.1520960331411, + 260.3608593531402, + 0.918206148273053 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -693.6520960331411, + 257.7627831417869, + 0.918206148273053 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -695.1520960331411, + 255.16470693043357, + 0.918206148273053 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -696.6520960331411, + 252.56663071908025, + 0.918206148273053 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -698.1520960331411, + 249.96855450772694, + 0.918206148273053 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -699.6520960331411, + 247.37047829637362, + 0.918206148273053 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -701.1520960331411, + 244.7724020850203, + 0.918206148273053 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -701.1520960331411, + 244.7724020850203, + 0.918206148273053 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -701.1520960331411, + 241.7724020850203, + 0.918206148273053 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -701.6309753417969, + 238.16310417175293, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-4-10_928533185/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-4-10_928533185/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4ce3b0cb28b7f50d17fee5785b96d724fd51a5fc --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-4-10_928533185/pose.jsonl @@ -0,0 +1,391 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -864.9667644993469, + 62.908083849890915, + -1.3660534337512313 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -861.9667644993469, + 62.908083849890915, + -1.3660534337512313 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -858.9667644993469, + 62.908083849890915, + -1.3660534337512313 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -855.9667644993469, + 62.908083849890915, + -1.3660534337512313 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -852.9667644993469, + 62.908083849890915, + -1.3660534337512313 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -849.9667644993469, + 62.908083849890915, + -1.3660534337512313 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -846.9667644993469, + 62.908083849890915, + -1.3660534337512313 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -843.9667644993469, + 62.908083849890915, + -1.3660534337512313 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -840.9667644993469, + 62.908083849890915, + -1.3660534337512313 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -837.9667644993469, + 62.908083849890915, + -1.3660534337512313 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -834.9667644993469, + 62.908083849890915, + -1.3660534337512313 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -831.9667644993469, + 62.908083849890915, + -1.3660534337512313 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -828.9667644993469, + 62.908083849890915, + -1.3660534337512313 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -825.9667644993469, + 62.908083849890915, + -1.3660534337512313 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -822.9667644993469, + 62.908083849890915, + -1.3660534337512313 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -819.9667644993469, + 62.908083849890915, + -1.3660534337512313 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -819.9667644993469, + 62.908083849890915, + -1.3660534337512313 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -817.3686882879936, + 64.40808384989091, + -1.3660534337512313 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -814.7706120766402, + 65.90808384989091, + -1.3660534337512313 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -812.1725358652868, + 67.40808384989091, + -1.3660534337512313 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -809.5744596539334, + 68.90808384989091, + -1.3660534337512313 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -806.9763834425801, + 70.40808384989091, + -1.3660534337512313 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -804.3783072312267, + 71.90808384989091, + -1.3660534337512313 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -801.7802310198733, + 73.40808384989091, + -1.3660534337512313 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -799.18215480852, + 74.90808384989091, + -1.3660534337512313 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -796.5840785971666, + 76.40808384989091, + -1.3660534337512313 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -793.9860023858132, + 77.90808384989091, + -1.3660534337512313 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -791.3879261744598, + 79.40808384989091, + -1.3660534337512313 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -788.7898499631065, + 80.90808384989091, + -1.3660534337512313 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -785.9369680786133, + 81.05284317016601, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-40-39_1959558365/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-40-39_1959558365/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6400f7ba8da377d917278948982ba15743aa63bd --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-40-39_1959558365/pose.jsonl @@ -0,0 +1,482 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -224.7705376747648, + -156.83003461725977, + 1.0393139480268676 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -227.7705376747648, + -156.83003461725977, + 1.0393139480268676 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -230.7705376747648, + -156.83003461725977, + 1.0393139480268676 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -233.7705376747648, + -156.83003461725977, + 1.0393139480268676 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -236.7705376747648, + -156.83003461725977, + 1.0393139480268676 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -239.7705376747648, + -156.83003461725977, + 1.0393139480268676 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -242.7705376747648, + -156.83003461725977, + 1.0393139480268676 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -245.7705376747648, + -156.83003461725977, + 1.0393139480268676 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -248.7705376747648, + -156.83003461725977, + 1.0393139480268676 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -251.7705376747648, + -156.83003461725977, + 1.0393139480268676 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -254.7705376747648, + -156.83003461725977, + 1.0393139480268676 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -257.7705376747648, + -156.83003461725977, + 1.0393139480268676 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -260.7705376747648, + -156.83003461725977, + 1.0393139480268676 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -263.7705376747648, + -156.83003461725977, + 1.0393139480268676 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -266.7705376747648, + -156.83003461725977, + 1.0393139480268676 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -269.7705376747648, + -156.83003461725977, + 1.0393139480268676 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -272.7705376747648, + -156.83003461725977, + 1.0393139480268676 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -275.7705376747648, + -156.83003461725977, + 1.0393139480268676 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -278.7705376747648, + -156.83003461725977, + 1.0393139480268676 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -281.7705376747648, + -156.83003461725977, + 1.0393139480268676 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -284.7705376747648, + -156.83003461725977, + 1.0393139480268676 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -284.7705376747648, + -156.83003461725977, + 1.0393139480268676 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -287.3686138861181, + -155.33003461725977, + 1.0393139480268676 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -289.9666900974714, + -153.83003461725977, + 1.0393139480268676 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -292.56476630882474, + -152.33003461725977, + 1.0393139480268676 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -295.16284252017806, + -150.83003461725977, + 1.0393139480268676 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -297.7609187315314, + -149.33003461725977, + 1.0393139480268676 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -300.3589949428847, + -147.83003461725977, + 1.0393139480268676 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -302.957071154238, + -146.33003461725977, + 1.0393139480268676 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -305.5551473655913, + -144.83003461725977, + 1.0393139480268676 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -308.15322357694464, + -143.33003461725977, + 1.0393139480268676 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -310.75129978829796, + -141.83003461725977, + 1.0393139480268676 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -313.3493759996513, + -140.33003461725977, + 1.0393139480268676 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -315.9474522110046, + -138.83003461725977, + 1.0393139480268676 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -318.5455284223579, + -137.33003461725977, + 1.0393139480268676 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -321.1436046337112, + -135.83003461725977, + 1.0393139480268676 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -323.98753799438475, + -133.34803604125977, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-48-30_337554739/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-48-30_337554739/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..336fac735090e91487648c5a61905eefb2ed0d6e --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-48-30_337554739/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -581.8444985974184, + -371.2011174493282, + 4.558035713164852 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -580.3444985974184, + -368.6030412379749, + 4.558035713164852 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -578.8444985974184, + -366.00496502662156, + 4.558035713164852 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -577.3444985974184, + -363.40688881526825, + 4.558035713164852 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -575.8444985974184, + -360.80881260391493, + 4.558035713164852 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -574.3444985974184, + -358.2107363925616, + 4.558035713164852 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -572.8444985974184, + -355.6126601812083, + 4.558035713164852 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -571.3444985974184, + -353.014583969855, + 4.558035713164852 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -569.8444985974184, + -350.41650775850167, + 4.558035713164852 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -568.3444985974184, + -347.81843154714835, + 4.558035713164852 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -566.8444985974184, + -345.22035533579503, + 4.558035713164852 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -565.3444985974184, + -342.6222791244417, + 4.558035713164852 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -563.8444985974184, + -340.0242029130884, + 4.558035713164852 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -562.3444985974184, + -337.4261267017351, + 4.558035713164852 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -560.8444985974184, + -334.82805049038177, + 4.558035713164852 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -559.3444985974184, + -332.22997427902845, + 4.558035713164852 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -557.8444985974184, + -329.63189806767514, + 4.558035713164852 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -556.3444985974184, + -327.0338218563218, + 4.558035713164852 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -554.8444985974184, + -324.4357456449685, + 4.558035713164852 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -553.3444985974184, + -321.8376694336152, + 4.558035713164852 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -551.8444985974184, + -319.2395932222619, + 4.558035713164852 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -550.3444985974184, + -316.64151701090856, + 4.558035713164852 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -548.8444985974184, + -314.04344079955524, + 4.558035713164852 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -545.8660174560547, + -312.8632476806641, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-51-21_2123044746/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-51-21_2123044746/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2552c52f565936151c17ae20cfa965ac7086a7f9 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-51-21_2123044746/pose.jsonl @@ -0,0 +1,521 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -15.384260433943894, + -90.27751493775766, + -0.8447610283519964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -13.884260433943894, + -87.67943872640434, + -0.8447610283519964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -12.384260433943894, + -85.08136251505103, + -0.8447610283519964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -10.884260433943894, + -82.48328630369771, + -0.8447610283519964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -9.384260433943894, + -79.8852100923444, + -0.8447610283519964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -7.8842604339438935, + -77.28713388099108, + -0.8447610283519964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -6.3842604339438935, + -74.68905766963776, + -0.8447610283519964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -4.8842604339438935, + -72.09098145828445, + -0.8447610283519964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -3.384260433943893, + -69.49290524693113, + -0.8447610283519964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1.8842604339438926, + -66.89482903557781, + -0.8447610283519964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -0.3842604339438922, + -64.2967528242245, + -0.8447610283519964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1.1157395660561082, + -61.69867661287118, + -0.8447610283519964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 2.6157395660561087, + -59.100600401517866, + -0.8447610283519964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4.115739566056109, + -56.50252419016455, + -0.8447610283519964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 5.61573956605611, + -53.904447978811234, + -0.8447610283519964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965974 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 7.11573956605611, + -51.30637176745792, + -0.8447610283519964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 8.61573956605611, + -48.7082955561046, + -0.8447610283519964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 10.11573956605611, + -46.110219344751286, + -0.8447610283519964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 11.61573956605611, + -43.51214313339797, + -0.8447610283519964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 13.11573956605611, + -40.914066922044654, + -0.8447610283519964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 14.61573956605611, + -38.31599071069134, + -0.8447610283519964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 16.11573956605611, + -35.71791449933802, + -0.8447610283519964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 17.61573956605611, + -33.119838287984706, + -0.8447610283519964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 19.11573956605611, + -30.52176207663139, + -0.8447610283519964 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 19.11573956605611, + -30.52176207663139, + -0.8447610283519964 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 21.713815777409426, + -29.02176207663139, + -0.8447610283519964 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 24.311891988762742, + -27.52176207663139, + -0.8447610283519964 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 26.909968200116058, + -26.02176207663139, + -0.8447610283519964 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 29.508044411469374, + -24.52176207663139, + -0.8447610283519964 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 32.10612062282269, + -23.02176207663139, + -0.8447610283519964 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982995 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 34.704196834176, + -21.52176207663139, + -0.8447610283519964 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 37.30227304552932, + -20.02176207663139, + -0.8447610283519964 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 39.900349256882635, + -18.52176207663139, + -0.8447610283519964 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 42.49842546823595, + -17.02176207663139, + -0.8447610283519964 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 45.09650167958927, + -15.52176207663139, + -0.8447610283519964 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 47.69457789094258, + -14.02176207663139, + -0.8447610283519964 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 50.2926541022959, + -12.52176207663139, + -0.8447610283519964 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 52.890730313649215, + -11.02176207663139, + -0.8447610283519964 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 55.48880652500253, + -9.52176207663139, + -0.8447610283519964 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 56.6919751739502, + -8.754466934204101, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-57-32_541909246/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-57-32_541909246/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a063387c24d0341099d8e1bc812899d53649220b --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-57-32_541909246/pose.jsonl @@ -0,0 +1,391 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -969.7534364036419, + 200.23476696365248, + 0.9731399665170652 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -971.2534364036419, + 202.8328431750058, + 0.9731399665170652 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -972.7534364036419, + 205.4309193863591, + 0.9731399665170652 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -974.2534364036419, + 208.02899559771242, + 0.9731399665170652 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -975.7534364036419, + 210.62707180906574, + 0.9731399665170652 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -977.2534364036419, + 213.22514802041906, + 0.9731399665170652 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -978.7534364036419, + 215.82322423177237, + 0.9731399665170652 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -980.2534364036419, + 218.4213004431257, + 0.9731399665170652 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -981.7534364036419, + 221.019376654479, + 0.9731399665170652 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -983.2534364036419, + 223.61745286583232, + 0.9731399665170652 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -984.7534364036419, + 226.21552907718564, + 0.9731399665170652 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -986.2534364036419, + 228.81360528853895, + 0.9731399665170652 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -987.7534364036419, + 231.41168149989227, + 0.9731399665170652 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -989.2534364036419, + 234.00975771124558, + 0.9731399665170652 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -990.7534364036419, + 236.6078339225989, + 0.9731399665170652 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -992.2534364036419, + 239.20591013395222, + 0.9731399665170652 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -993.7534364036419, + 241.80398634530553, + 0.9731399665170652 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -995.2534364036419, + 244.40206255665885, + 0.9731399665170652 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -996.7534364036419, + 247.00013876801216, + 0.9731399665170652 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -998.2534364036419, + 249.59821497936548, + 0.9731399665170652 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -999.7534364036419, + 252.1962911907188, + 0.9731399665170652 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1001.2534364036419, + 254.7943674020721, + 0.9731399665170652 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1001.2534364036419, + 254.7943674020721, + 0.9731399665170652 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1001.2534364036419, + 257.7943674020721, + 0.9731399665170652 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1001.2534364036419, + 260.7943674020721, + 0.9731399665170652 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1001.2534364036419, + 263.7943674020721, + 0.9731399665170652 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1001.2534364036419, + 266.7943674020721, + 0.9731399665170652 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1001.2534364036419, + 269.7943674020721, + 0.9731399665170652 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1001.2534364036419, + 272.7943674020721, + 0.9731399665170652 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1002.9734149169922, + 277.3824105834961, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-58-6_1198900994/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-58-6_1198900994/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6ec7274dd6b89663041af296946158bb6bb14e71 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-58-6_1198900994/pose.jsonl @@ -0,0 +1,495 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -649.4735306373113, + 9.54373042436741, + -3.742182800606569 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -650.9735306373113, + 12.141806635720727, + -3.742182800606569 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -652.4735306373113, + 14.739882847074043, + -3.742182800606569 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -653.9735306373113, + 17.33795905842736, + -3.742182800606569 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -655.4735306373113, + 19.936035269780675, + -3.742182800606569 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -656.9735306373113, + 22.53411148113399, + -3.742182800606569 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -658.4735306373113, + 25.132187692487307, + -3.742182800606569 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -659.9735306373113, + 27.730263903840623, + -3.742182800606569 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -661.4735306373113, + 30.32834011519394, + -3.742182800606569 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -662.9735306373113, + 32.926416326547255, + -3.742182800606569 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -664.4735306373113, + 35.52449253790057, + -3.742182800606569 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -665.9735306373113, + 38.12256874925389, + -3.742182800606569 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -667.4735306373113, + 40.7206449606072, + -3.742182800606569 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -668.9735306373113, + 43.31872117196052, + -3.742182800606569 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -670.4735306373113, + 45.916797383313835, + -3.742182800606569 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -671.9735306373113, + 48.51487359466715, + -3.742182800606569 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -673.4735306373113, + 51.11294980602047, + -3.742182800606569 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -674.9735306373113, + 53.71102601737378, + -3.742182800606569 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -676.4735306373113, + 56.3091022287271, + -3.742182800606569 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -677.9735306373113, + 58.907178440080415, + -3.742182800606569 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -679.4735306373113, + 61.50525465143373, + -3.742182800606569 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -680.9735306373113, + 64.10333086278705, + -3.742182800606569 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -682.4735306373113, + 66.70140707414036, + -3.742182800606569 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -683.9735306373113, + 69.29948328549368, + -3.742182800606569 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -683.9735306373113, + 69.29948328549368, + -3.742182800606569 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -683.9735306373113, + 72.29948328549368, + -3.742182800606569 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -683.9735306373113, + 75.29948328549368, + -3.742182800606569 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -683.9735306373113, + 78.29948328549368, + -3.742182800606569 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -683.9735306373113, + 81.29948328549368, + -3.742182800606569 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -683.9735306373113, + 84.29948328549368, + -3.742182800606569 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -683.9735306373113, + 87.29948328549368, + -3.742182800606569 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -683.9735306373113, + 90.29948328549368, + -3.742182800606569 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -683.9735306373113, + 93.29948328549368, + -3.742182800606569 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -683.9735306373113, + 96.29948328549368, + -3.742182800606569 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -683.9735306373113, + 99.29948328549368, + -3.742182800606569 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -683.9735306373113, + 102.29948328549368, + -3.742182800606569 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -683.9735306373113, + 105.29948328549368, + -3.742182800606569 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -682.7478131103516, + 107.50352409362793, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-59-29_2021912843/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-59-29_2021912843/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5784c587bbd5991bac67c41d9c42396a0a3d7a28 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-59-29_2021912843/pose.jsonl @@ -0,0 +1,404 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -264.30595072628057, + -466.3953210849715, + 4.612967924548261 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -265.80595072628057, + -463.7972448736182, + 4.612967924548261 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -267.30595072628057, + -461.19916866226487, + 4.612967924548261 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -268.80595072628057, + -458.60109245091155, + 4.612967924548261 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -270.30595072628057, + -456.00301623955824, + 4.612967924548261 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -271.80595072628057, + -453.4049400282049, + 4.612967924548261 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -273.30595072628057, + -450.8068638168516, + 4.612967924548261 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -274.80595072628057, + -448.2087876054983, + 4.612967924548261 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -276.30595072628057, + -445.61071139414497, + 4.612967924548261 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -277.80595072628057, + -443.01263518279166, + 4.612967924548261 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -279.30595072628057, + -440.41455897143834, + 4.612967924548261 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -280.80595072628057, + -437.816482760085, + 4.612967924548261 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -282.30595072628057, + -435.2184065487317, + 4.612967924548261 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -283.80595072628057, + -432.6203303373784, + 4.612967924548261 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -285.30595072628057, + -430.0222541260251, + 4.612967924548261 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -286.80595072628057, + -427.42417791467176, + 4.612967924548261 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -288.30595072628057, + -424.82610170331844, + 4.612967924548261 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -289.80595072628057, + -422.2280254919651, + 4.612967924548261 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -289.80595072628057, + -422.2280254919651, + 4.612967924548261 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -292.4040269376339, + -420.7280254919651, + 4.612967924548261 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -295.0021031489872, + -419.2280254919651, + 4.612967924548261 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -297.6001793603405, + -417.7280254919651, + 4.612967924548261 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -300.19825557169384, + -416.2280254919651, + 4.612967924548261 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -302.79633178304715, + -414.7280254919651, + 4.612967924548261 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -305.39440799440047, + -413.2280254919651, + 4.612967924548261 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -307.9924842057538, + -411.7280254919651, + 4.612967924548261 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -310.5905604171071, + -410.2280254919651, + 4.612967924548261 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -313.1886366284604, + -408.7280254919651, + 4.612967924548261 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -315.78671283981373, + -407.2280254919651, + 4.612967924548261 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -318.38478905116705, + -405.7280254919651, + 4.612967924548261 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -319.6267106628418, + -403.69195602416994, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-7-55_1438573268/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-7-55_1438573268/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..59cbe2e3605c5fe3bae00dd5b4ab289b2711ad01 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-7-55_1438573268/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -918.2375044329336, + 262.95356967388585, + -0.00747870633049974 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -920.8355806442869, + 261.45356967388585, + -0.00747870633049974 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -923.4336568556403, + 259.95356967388585, + -0.00747870633049974 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -926.0317330669936, + 258.45356967388585, + -0.00747870633049974 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -928.629809278347, + 256.95356967388585, + -0.00747870633049974 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -931.2278854897004, + 255.45356967388585, + -0.00747870633049974 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -933.8259617010538, + 253.95356967388585, + -0.00747870633049974 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -936.4240379124071, + 252.45356967388585, + -0.00747870633049974 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -939.0221141237605, + 250.95356967388585, + -0.00747870633049974 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -941.6201903351139, + 249.45356967388585, + -0.00747870633049974 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -944.2182665464672, + 247.95356967388585, + -0.00747870633049974 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -946.8163427578206, + 246.45356967388585, + -0.00747870633049974 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -949.414418969174, + 244.95356967388585, + -0.00747870633049974 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -952.0124951805274, + 243.45356967388585, + -0.00747870633049974 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -954.6105713918807, + 241.95356967388585, + -0.00747870633049974 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -954.6105713918807, + 241.95356967388585, + -0.00747870633049974 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -957.6105713918807, + 241.95356967388585, + -0.00747870633049974 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -960.6105713918807, + 241.95356967388585, + -0.00747870633049974 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -963.6105713918807, + 241.95356967388585, + -0.00747870633049974 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -966.6105713918807, + 241.95356967388585, + -0.00747870633049974 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -969.6105713918807, + 241.95356967388585, + -0.00747870633049974 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -972.6105713918807, + 241.95356967388585, + -0.00747870633049974 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -975.6105713918807, + 241.95356967388585, + -0.00747870633049974 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -978.6087219238281, + 239.76509559631347, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-9-10_1393129559/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-9-10_1393129559/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..36d961b9fd2853ce3cb29f01bc68bda6b1d80295 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-9-10_1393129559/pose.jsonl @@ -0,0 +1,547 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -418.4000218112763, + 372.63680694211405, + -0.30304505005944815 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -418.4000218112763, + 375.63680694211405, + -0.30304505005944815 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -418.4000218112763, + 378.63680694211405, + -0.30304505005944815 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -418.4000218112763, + 381.63680694211405, + -0.30304505005944815 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -418.4000218112763, + 384.63680694211405, + -0.30304505005944815 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -418.4000218112763, + 387.63680694211405, + -0.30304505005944815 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -418.4000218112763, + 390.63680694211405, + -0.30304505005944815 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -418.4000218112763, + 393.63680694211405, + -0.30304505005944815 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -418.4000218112763, + 396.63680694211405, + -0.30304505005944815 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -418.4000218112763, + 399.63680694211405, + -0.30304505005944815 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -418.4000218112763, + 402.63680694211405, + -0.30304505005944815 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -418.4000218112763, + 405.63680694211405, + -0.30304505005944815 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -418.4000218112763, + 408.63680694211405, + -0.30304505005944815 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -418.4000218112763, + 411.63680694211405, + -0.30304505005944815 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -418.4000218112763, + 414.63680694211405, + -0.30304505005944815 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -418.4000218112763, + 417.63680694211405, + -0.30304505005944815 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -418.4000218112763, + 420.63680694211405, + -0.30304505005944815 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -418.4000218112763, + 423.63680694211405, + -0.30304505005944815 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -418.4000218112763, + 426.63680694211405, + -0.30304505005944815 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -418.4000218112763, + 429.63680694211405, + -0.30304505005944815 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -418.4000218112763, + 432.63680694211405, + -0.30304505005944815 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -418.4000218112763, + 435.63680694211405, + -0.30304505005944815 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -418.4000218112763, + 438.63680694211405, + -0.30304505005944815 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -418.4000218112763, + 441.63680694211405, + -0.30304505005944815 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -418.4000218112763, + 444.63680694211405, + -0.30304505005944815 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -418.4000218112763, + 447.63680694211405, + -0.30304505005944815 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -418.4000218112763, + 450.63680694211405, + -0.30304505005944815 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -418.4000218112763, + 453.63680694211405, + -0.30304505005944815 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -418.4000218112763, + 456.63680694211405, + -0.30304505005944815 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -418.4000218112763, + 459.63680694211405, + -0.30304505005944815 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -418.4000218112763, + 462.63680694211405, + -0.30304505005944815 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -418.4000218112763, + 465.63680694211405, + -0.30304505005944815 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -418.4000218112763, + 465.63680694211405, + -0.30304505005944815 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -418.4000218112763, + 465.63680694211405, + -0.30304505005944815 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -415.801945599923, + 467.13680694211405, + -0.30304505005944815 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -413.2038693885697, + 468.63680694211405, + -0.30304505005944815 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -410.60579317721636, + 470.13680694211405, + -0.30304505005944815 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -408.00771696586304, + 471.63680694211405, + -0.30304505005944815 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -405.4096407545097, + 473.13680694211405, + -0.30304505005944815 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -402.8115645431564, + 474.63680694211405, + -0.30304505005944815 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -400.2134883318031, + 476.13680694211405, + -0.30304505005944815 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -399.08082916259764, + 479.4950012207031, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_14-18-25_95969100/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_14-18-25_95969100/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8eb322fbc7642d809dd5755a8640429752c73c95 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_14-18-25_95969100/pose.jsonl @@ -0,0 +1,391 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 499.0938066175129, + 513.6065199760218, + -3.9374110035998697 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 496.49573040615957, + 515.1065199760218, + -3.9374110035998697 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 493.89765419480625, + 516.6065199760218, + -3.9374110035998697 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 491.29957798345293, + 518.1065199760218, + -3.9374110035998697 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 488.7015017720996, + 519.6065199760218, + -3.9374110035998697 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 486.1034255607463, + 521.1065199760218, + -3.9374110035998697 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 483.505349349393, + 522.6065199760218, + -3.9374110035998697 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 480.90727313803967, + 524.1065199760218, + -3.9374110035998697 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 478.30919692668635, + 525.6065199760218, + -3.9374110035998697 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 475.71112071533304, + 527.1065199760218, + -3.9374110035998697 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 473.1130445039797, + 528.6065199760218, + -3.9374110035998697 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 470.5149682926264, + 530.1065199760218, + -3.9374110035998697 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 467.9168920812731, + 531.6065199760218, + -3.9374110035998697 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 465.3188158699198, + 533.1065199760218, + -3.9374110035998697 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 465.3188158699198, + 533.1065199760218, + -3.9374110035998697 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 463.8188158699198, + 535.704596187375, + -3.9374110035998697 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 462.3188158699198, + 538.3026723987284, + -3.9374110035998697 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 460.8188158699198, + 540.9007486100818, + -3.9374110035998697 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 459.3188158699198, + 543.4988248214352, + -3.9374110035998697 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 457.8188158699198, + 546.0969010327885, + -3.9374110035998697 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 456.3188158699198, + 548.6949772441419, + -3.9374110035998697 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 454.8188158699198, + 551.2930534554953, + -3.9374110035998697 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 453.3188158699198, + 553.8911296668487, + -3.9374110035998697 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 451.8188158699198, + 556.489205878202, + -3.9374110035998697 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 451.8188158699198, + 556.489205878202, + -3.9374110035998697 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 449.22073965856646, + 557.989205878202, + -3.9374110035998697 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 446.62266344721314, + 559.489205878202, + -3.9374110035998697 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 444.0245872358598, + 560.989205878202, + -3.9374110035998697 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 441.4265110245065, + 562.489205878202, + -3.9374110035998697 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 439.84950744628907, + 563.3985629272461, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_14-2-2_104023856/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_14-2-2_104023856/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..72d9f20d255d4092ee00f650994084c2d8a7fc2a --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_14-2-2_104023856/pose.jsonl @@ -0,0 +1,300 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -689.7568743901503, + 298.60140033287394, + -1.727738771755135 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -689.7568743901503, + 295.60140033287394, + -1.727738771755135 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -689.7568743901503, + 292.60140033287394, + -1.727738771755135 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -689.7568743901503, + 289.60140033287394, + -1.727738771755135 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -689.7568743901503, + 286.60140033287394, + -1.727738771755135 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -689.7568743901503, + 283.60140033287394, + -1.727738771755135 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -689.7568743901503, + 280.60140033287394, + -1.727738771755135 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -689.7568743901503, + 277.60140033287394, + -1.727738771755135 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -689.7568743901503, + 274.60140033287394, + -1.727738771755135 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -689.7568743901503, + 271.60140033287394, + -1.727738771755135 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -689.7568743901503, + 268.60140033287394, + -1.727738771755135 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -689.7568743901503, + 265.60140033287394, + -1.727738771755135 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -689.7568743901503, + 262.60140033287394, + -1.727738771755135 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -689.7568743901503, + 259.60140033287394, + -1.727738771755135 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -689.7568743901503, + 259.60140033287394, + -1.727738771755135 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -691.2568743901503, + 257.0033241215206, + -1.727738771755135 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -692.7568743901503, + 254.4052479101673, + -1.727738771755135 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -694.2568743901503, + 251.807171698814, + -1.727738771755135 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -695.7568743901503, + 249.20909548746067, + -1.727738771755135 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -697.2568743901503, + 246.61101927610736, + -1.727738771755135 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -698.7568743901503, + 244.01294306475404, + -1.727738771755135 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -700.2568743901503, + 241.41486685340072, + -1.727738771755135 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -701.6309753417969, + 238.16310417175293, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_14-22-5_790413831/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_14-22-5_790413831/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1c64ed4496f62193caa6745f3ebbe6b7df269b1e --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_14-22-5_790413831/pose.jsonl @@ -0,0 +1,352 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -151.5685999558974, + -138.8650429886602, + -3.34432885436559 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -151.5685999558974, + -135.8650429886602, + -3.34432885436559 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -151.5685999558974, + -132.8650429886602, + -3.34432885436559 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -151.5685999558974, + -129.8650429886602, + -3.34432885436559 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -151.5685999558974, + -126.8650429886602, + -3.34432885436559 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -151.5685999558974, + -123.8650429886602, + -3.34432885436559 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -151.5685999558974, + -120.8650429886602, + -3.34432885436559 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -151.5685999558974, + -117.8650429886602, + -3.34432885436559 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -151.5685999558974, + -114.8650429886602, + -3.34432885436559 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -151.5685999558974, + -111.8650429886602, + -3.34432885436559 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -151.5685999558974, + -108.8650429886602, + -3.34432885436559 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -151.5685999558974, + -105.8650429886602, + -3.34432885436559 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -151.5685999558974, + -102.8650429886602, + -3.34432885436559 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -151.5685999558974, + -99.8650429886602, + -3.34432885436559 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -151.5685999558974, + -96.8650429886602, + -3.34432885436559 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -151.5685999558974, + -93.8650429886602, + -3.34432885436559 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -151.5685999558974, + -90.8650429886602, + -3.34432885436559 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -151.5685999558974, + -87.8650429886602, + -3.34432885436559 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -151.5685999558974, + -84.8650429886602, + -3.34432885436559 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -151.5685999558974, + -81.8650429886602, + -3.34432885436559 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -151.5685999558974, + -78.8650429886602, + -3.34432885436559 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -151.5685999558974, + -75.8650429886602, + -3.34432885436559 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -151.5685999558974, + -72.8650429886602, + -3.34432885436559 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -151.5685999558974, + -72.8650429886602, + -3.34432885436559 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -153.0685999558974, + -70.26696677730689, + -3.34432885436559 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -154.5685999558974, + -67.66889056595357, + -3.34432885436559 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -156.47577671051025, + -64.65314291000367, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_14-23-6_1684692770/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_14-23-6_1684692770/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0c24a360dc8ad634747f0ef576a1e2684ae986cc --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_14-23-6_1684692770/pose.jsonl @@ -0,0 +1,534 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -721.4583367216906, + 344.3877859055351, + 2.616577017063994 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -719.9583367216906, + 341.7897096941818, + 2.616577017063994 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -718.4583367216906, + 339.1916334828285, + 2.616577017063994 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -716.9583367216906, + 336.59355727147516, + 2.616577017063994 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -715.4583367216906, + 333.99548106012185, + 2.616577017063994 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -713.9583367216906, + 331.39740484876853, + 2.616577017063994 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -712.4583367216906, + 328.7993286374152, + 2.616577017063994 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -710.9583367216906, + 326.2012524260619, + 2.616577017063994 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -709.4583367216906, + 323.6031762147086, + 2.616577017063994 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -707.9583367216906, + 321.00510000335527, + 2.616577017063994 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -706.4583367216906, + 318.40702379200195, + 2.616577017063994 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -704.9583367216906, + 315.80894758064863, + 2.616577017063994 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -703.4583367216906, + 313.2108713692953, + 2.616577017063994 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -701.9583367216906, + 310.612795157942, + 2.616577017063994 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -700.4583367216906, + 308.0147189465887, + 2.616577017063994 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -698.9583367216906, + 305.41664273523537, + 2.616577017063994 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -697.4583367216906, + 302.81856652388205, + 2.616577017063994 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -695.9583367216906, + 300.22049031252874, + 2.616577017063994 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -694.4583367216906, + 297.6224141011754, + 2.616577017063994 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -692.9583367216906, + 295.0243378898221, + 2.616577017063994 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -691.4583367216906, + 292.4262616784688, + 2.616577017063994 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -689.9583367216906, + 289.8281854671155, + 2.616577017063994 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -688.4583367216906, + 287.23010925576216, + 2.616577017063994 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -686.9583367216906, + 284.63203304440884, + 2.616577017063994 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -686.9583367216906, + 284.63203304440884, + 2.616577017063994 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -686.9583367216906, + 281.63203304440884, + 2.616577017063994 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -686.9583367216906, + 278.63203304440884, + 2.616577017063994 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -686.9583367216906, + 275.63203304440884, + 2.616577017063994 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -686.9583367216906, + 272.63203304440884, + 2.616577017063994 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -686.9583367216906, + 269.63203304440884, + 2.616577017063994 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -686.9583367216906, + 266.63203304440884, + 2.616577017063994 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -686.9583367216906, + 263.63203304440884, + 2.616577017063994 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -686.9583367216906, + 260.63203304440884, + 2.616577017063994 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -686.9583367216906, + 257.63203304440884, + 2.616577017063994 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -686.9583367216906, + 254.63203304440884, + 2.616577017063994 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -686.9583367216906, + 251.63203304440884, + 2.616577017063994 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -686.9583367216906, + 248.63203304440884, + 2.616577017063994 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -686.9583367216906, + 245.63203304440884, + 2.616577017063994 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -686.9583367216906, + 242.63203304440884, + 2.616577017063994 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -686.9583367216906, + 239.63203304440884, + 2.616577017063994 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -684.7201055908203, + 237.53857521057128, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_14-29-32_1842533461/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_14-29-32_1842533461/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..031df2b92c28f0f498a31a7ec02cc7a33c0c6a86 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_14-29-32_1842533461/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -819.3866455961725, + 3.207697542834161, + 3.0980774553623043 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -816.7885693848191, + 4.707697542834161, + 3.0980774553623043 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -814.1904931734657, + 6.207697542834161, + 3.0980774553623043 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -811.5924169621123, + 7.707697542834161, + 3.0980774553623043 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -808.994340750759, + 9.207697542834161, + 3.0980774553623043 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -806.3962645394056, + 10.707697542834161, + 3.0980774553623043 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -803.7981883280522, + 12.207697542834161, + 3.0980774553623043 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -801.2001121166988, + 13.707697542834161, + 3.0980774553623043 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -798.6020359053455, + 15.207697542834161, + 3.0980774553623043 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -796.0039596939921, + 16.70769754283416, + 3.0980774553623043 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -793.4058834826387, + 18.20769754283416, + 3.0980774553623043 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -790.8078072712854, + 19.70769754283416, + 3.0980774553623043 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -788.209731059932, + 21.20769754283416, + 3.0980774553623043 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -788.209731059932, + 21.20769754283416, + 3.0980774553623043 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -786.709731059932, + 23.805773754187477, + 3.0980774553623043 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -785.209731059932, + 26.403849965540793, + 3.0980774553623043 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -783.709731059932, + 29.00192617689411, + 3.0980774553623043 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -782.209731059932, + 31.600002388247425, + 3.0980774553623043 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -780.709731059932, + 34.19807859960074, + 3.0980774553623043 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -779.209731059932, + 36.79615481095406, + 3.0980774553623043 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -777.709731059932, + 39.39423102230737, + 3.0980774553623043 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -776.209731059932, + 41.99230723366069, + 3.0980774553623043 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -774.709731059932, + 44.590383445014005, + 3.0980774553623043 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -773.209731059932, + 47.18845965636732, + 3.0980774553623043 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -771.709731059932, + 49.78653586772064, + 3.0980774553623043 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -768.8232287597656, + 49.617736358642574, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_14-29-46_119570878/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_14-29-46_119570878/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e6d031335e9f455829295b571c78d5fce27fd0bb --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_14-29-46_119570878/pose.jsonl @@ -0,0 +1,508 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 299.33498999887934, + 763.9612437704222, + -3.0995070526200266 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 296.736913787526, + 762.4612437704222, + -3.0995070526200266 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 294.1388375761727, + 760.9612437704222, + -3.0995070526200266 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 291.5407613648194, + 759.4612437704222, + -3.0995070526200266 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 288.9426851534661, + 757.9612437704222, + -3.0995070526200266 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 286.34460894211276, + 756.4612437704222, + -3.0995070526200266 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 283.74653273075944, + 754.9612437704222, + -3.0995070526200266 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 281.1484565194061, + 753.4612437704222, + -3.0995070526200266 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 278.5503803080528, + 751.9612437704222, + -3.0995070526200266 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 275.9523040966995, + 750.4612437704222, + -3.0995070526200266 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 273.3542278853462, + 748.9612437704222, + -3.0995070526200266 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 270.75615167399286, + 747.4612437704222, + -3.0995070526200266 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 268.15807546263954, + 745.9612437704222, + -3.0995070526200266 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 265.55999925128623, + 744.4612437704222, + -3.0995070526200266 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 262.9619230399329, + 742.9612437704222, + -3.0995070526200266 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 260.3638468285796, + 741.4612437704222, + -3.0995070526200266 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 257.7657706172263, + 739.9612437704222, + -3.0995070526200266 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 255.16769440587296, + 738.4612437704222, + -3.0995070526200266 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 252.56961819451965, + 736.9612437704222, + -3.0995070526200266 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 252.56961819451965, + 736.9612437704222, + -3.0995070526200266 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 251.06961819451965, + 734.3631675590689, + -3.0995070526200266 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 249.56961819451965, + 731.7650913477155, + -3.0995070526200266 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 248.06961819451965, + 729.1670151363621, + -3.0995070526200266 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 246.56961819451965, + 726.5689389250088, + -3.0995070526200266 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 245.06961819451965, + 723.9708627136554, + -3.0995070526200266 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 243.56961819451965, + 721.372786502302, + -3.0995070526200266 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 242.06961819451965, + 718.7747102909486, + -3.0995070526200266 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 240.56961819451965, + 716.1766340795953, + -3.0995070526200266 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 239.06961819451965, + 713.5785578682419, + -3.0995070526200266 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 237.56961819451965, + 710.9804816568885, + -3.0995070526200266 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 236.06961819451965, + 708.3824054455351, + -3.0995070526200266 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 234.56961819451965, + 705.7843292341818, + -3.0995070526200266 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 233.06961819451965, + 703.1862530228284, + -3.0995070526200266 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 231.56961819451965, + 700.588176811475, + -3.0995070526200266 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 230.06961819451965, + 697.9901006001217, + -3.0995070526200266 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 228.56961819451965, + 695.3920243887683, + -3.0995070526200266 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 227.06961819451965, + 692.7939481774149, + -3.0995070526200266 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 225.56961819451965, + 690.1958719660615, + -3.0995070526200266 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 222.9949237060547, + 690.6306562805175, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_14-3-38_1296793946/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_14-3-38_1296793946/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b53eee491db5afea63d3060c3c4790f00e6ec9c3 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_14-3-38_1296793946/pose.jsonl @@ -0,0 +1,443 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -781.5471788826347, + 88.77728482512492, + -4.78037314256057 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -783.0471788826347, + 86.1792086137716, + -4.78037314256057 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -784.5471788826347, + 83.58113240241829, + -4.78037314256057 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -786.0471788826347, + 80.98305619106497, + -4.78037314256057 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -787.5471788826347, + 78.38497997971166, + -4.78037314256057 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -789.0471788826347, + 75.78690376835834, + -4.78037314256057 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -790.5471788826347, + 73.18882755700503, + -4.78037314256057 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -792.0471788826347, + 70.59075134565171, + -4.78037314256057 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -793.5471788826347, + 67.9926751342984, + -4.78037314256057 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -795.0471788826347, + 65.39459892294508, + -4.78037314256057 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -796.5471788826347, + 62.79652271159176, + -4.78037314256057 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -798.0471788826347, + 60.19844650023845, + -4.78037314256057 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -799.5471788826347, + 57.60037028888513, + -4.78037314256057 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -801.0471788826347, + 55.002294077531815, + -4.78037314256057 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -802.5471788826347, + 52.4042178661785, + -4.78037314256057 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -804.0471788826347, + 49.80614165482518, + -4.78037314256057 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -805.5471788826347, + 47.20806544347187, + -4.78037314256057 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -807.0471788826347, + 44.60998923211855, + -4.78037314256057 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -808.5471788826347, + 42.011913020765235, + -4.78037314256057 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -810.0471788826347, + 39.41383680941192, + -4.78037314256057 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -811.5471788826347, + 36.8157605980586, + -4.78037314256057 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -813.0471788826347, + 34.21768438670529, + -4.78037314256057 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -814.5471788826347, + 31.61960817535197, + -4.78037314256057 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -816.0471788826347, + 29.021531963998655, + -4.78037314256057 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -817.5471788826347, + 26.42345575264534, + -4.78037314256057 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -819.0471788826347, + 23.825379541292023, + -4.78037314256057 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -820.5471788826347, + 21.227303329938707, + -4.78037314256057 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -822.0471788826347, + 18.62922711858539, + -4.78037314256057 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -822.0471788826347, + 18.62922711858539, + -4.78037314256057 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -824.645255093988, + 17.12922711858539, + -4.78037314256057 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -827.2433313053414, + 15.62922711858539, + -4.78037314256057 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -829.8414075166947, + 14.12922711858539, + -4.78037314256057 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -832.4394837280481, + 12.62922711858539, + -4.78037314256057 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -834.8437512207031, + 12.72820457458496, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_14-5-48_847295153/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_14-5-48_847295153/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..eb0c9e0d04b97aa9981bbcbb37f6dfb4ae1954bb --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_14-5-48_847295153/pose.jsonl @@ -0,0 +1,378 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -925.3189363580369, + 184.86450870217612, + 3.3478216692535696 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -926.8189363580369, + 187.46258491352944, + 3.3478216692535696 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -928.3189363580369, + 190.06066112488276, + 3.3478216692535696 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -929.8189363580369, + 192.65873733623607, + 3.3478216692535696 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -931.3189363580369, + 195.2568135475894, + 3.3478216692535696 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -932.8189363580369, + 197.8548897589427, + 3.3478216692535696 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -934.3189363580369, + 200.45296597029602, + 3.3478216692535696 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -935.8189363580369, + 203.05104218164934, + 3.3478216692535696 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -937.3189363580369, + 205.64911839300265, + 3.3478216692535696 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -938.8189363580369, + 208.24719460435597, + 3.3478216692535696 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -940.3189363580369, + 210.84527081570928, + 3.3478216692535696 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -941.8189363580369, + 213.4433470270626, + 3.3478216692535696 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -943.3189363580369, + 216.04142323841592, + 3.3478216692535696 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -944.8189363580369, + 218.63949944976923, + 3.3478216692535696 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -946.3189363580369, + 221.23757566112255, + 3.3478216692535696 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -947.8189363580369, + 223.83565187247586, + 3.3478216692535696 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -947.8189363580369, + 223.83565187247586, + 3.3478216692535696 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -950.4170125693902, + 225.33565187247586, + 3.3478216692535696 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -953.0150887807436, + 226.83565187247586, + 3.3478216692535696 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -955.6131649920969, + 228.33565187247586, + 3.3478216692535696 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -958.2112412034503, + 229.83565187247586, + 3.3478216692535696 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -960.8093174148037, + 231.33565187247586, + 3.3478216692535696 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -963.407393626157, + 232.83565187247586, + 3.3478216692535696 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -966.0054698375104, + 234.33565187247586, + 3.3478216692535696 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -968.6035460488638, + 235.83565187247586, + 3.3478216692535696 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -971.2016222602172, + 237.33565187247586, + 3.3478216692535696 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -973.7996984715705, + 238.83565187247586, + 3.3478216692535696 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -976.3977746829239, + 240.33565187247586, + 3.3478216692535696 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -978.6087219238281, + 239.76509559631347, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_14-8-50_1719609524/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_14-8-50_1719609524/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..69bf5eb17b37f9c3afbb3cffe7a4cba9af23e697 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_14-8-50_1719609524/pose.jsonl @@ -0,0 +1,378 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 55.75985408620446, + 740.1684925169404, + -4.9330348215802085 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 53.16177787485115, + 738.6684925169404, + -4.9330348215802085 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 50.56370166349783, + 737.1684925169404, + -4.9330348215802085 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 47.965625452144515, + 735.6684925169404, + -4.9330348215802085 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 45.3675492407912, + 734.1684925169404, + -4.9330348215802085 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 42.76947302943788, + 732.6684925169404, + -4.9330348215802085 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 40.17139681808457, + 731.1684925169404, + -4.9330348215802085 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 37.57332060673125, + 729.6684925169404, + -4.9330348215802085 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 34.975244395377935, + 728.1684925169404, + -4.9330348215802085 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 32.37716818402462, + 726.6684925169404, + -4.9330348215802085 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 29.779091972671303, + 725.1684925169404, + -4.9330348215802085 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 27.181015761317987, + 723.6684925169404, + -4.9330348215802085 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 24.58293954996467, + 722.1684925169404, + -4.9330348215802085 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 21.984863338611355, + 720.6684925169404, + -4.9330348215802085 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 19.38678712725804, + 719.1684925169404, + -4.9330348215802085 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 16.788710915904723, + 717.6684925169404, + -4.9330348215802085 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 14.190634704551407, + 716.1684925169404, + -4.9330348215802085 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 11.59255849319809, + 714.6684925169404, + -4.9330348215802085 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 8.994482281844775, + 713.1684925169404, + -4.9330348215802085 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 6.396406070491459, + 711.6684925169404, + -4.9330348215802085 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 6.396406070491459, + 711.6684925169404, + -4.9330348215802085 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 4.89640607049146, + 709.0704163055871, + -4.9330348215802085 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 3.3964060704914605, + 706.4723400942337, + -4.9330348215802085 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1.8964060704914611, + 703.8742638828803, + -4.9330348215802085 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 0.3964060704914618, + 701.2761876715269, + -4.9330348215802085 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1.1035939295085375, + 698.6781114601736, + -4.9330348215802085 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2.603593929508537, + 696.0800352488202, + -4.9330348215802085 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -4.103593929508536, + 693.4819590374668, + -4.9330348215802085 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -5.930885200500488, + 691.5702409362793, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_14-9-5_664502799/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_14-9-5_664502799/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fc46d95323cafc150228ab6a939a145d197a1172 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_14-9-5_664502799/pose.jsonl @@ -0,0 +1,352 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 371.077318890899, + 679.9315497432248, + -0.4459437125292105 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 368.077318890899, + 679.9315497432248, + -0.4459437125292105 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 365.077318890899, + 679.9315497432248, + -0.4459437125292105 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 362.077318890899, + 679.9315497432248, + -0.4459437125292105 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 359.077318890899, + 679.9315497432248, + -0.4459437125292105 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 356.077318890899, + 679.9315497432248, + -0.4459437125292105 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 353.077318890899, + 679.9315497432248, + -0.4459437125292105 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 350.077318890899, + 679.9315497432248, + -0.4459437125292105 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 347.077318890899, + 679.9315497432248, + -0.4459437125292105 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 344.077318890899, + 679.9315497432248, + -0.4459437125292105 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 341.077318890899, + 679.9315497432248, + -0.4459437125292105 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 338.077318890899, + 679.9315497432248, + -0.4459437125292105 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 335.077318890899, + 679.9315497432248, + -0.4459437125292105 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 332.077318890899, + 679.9315497432248, + -0.4459437125292105 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 329.077318890899, + 679.9315497432248, + -0.4459437125292105 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 326.077318890899, + 679.9315497432248, + -0.4459437125292105 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 323.077318890899, + 679.9315497432248, + -0.4459437125292105 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 320.077318890899, + 679.9315497432248, + -0.4459437125292105 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 320.077318890899, + 679.9315497432248, + -0.4459437125292105 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 317.4792426795457, + 678.4315497432248, + -0.4459437125292105 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 314.88116646819236, + 676.9315497432248, + -0.4459437125292105 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 312.28309025683905, + 675.4315497432248, + -0.4459437125292105 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 309.68501404548573, + 673.9315497432248, + -0.4459437125292105 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 309.68501404548573, + 673.9315497432248, + -0.4459437125292105 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 309.68501404548573, + 673.9315497432248, + -0.4459437125292105 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948968 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 309.68501404548573, + 670.9315497432248, + -0.4459437125292105 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948968 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 307.503537902832, + 668.8986363220215, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_2-1-28_133286977/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_2-1-28_133286977/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2ffce3b2766092cb8c751dc7021837d178d7f0e8 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_2-1-28_133286977/pose.jsonl @@ -0,0 +1,456 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -812.8233817839568, + 90.54274609781132, + -1.0931734785380964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -811.3233817839568, + 93.14082230916463, + -1.0931734785380964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -809.8233817839568, + 95.73889852051795, + -1.0931734785380964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -808.3233817839568, + 98.33697473187127, + -1.0931734785380964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -806.8233817839568, + 100.93505094322458, + -1.0931734785380964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -805.3233817839568, + 103.5331271545779, + -1.0931734785380964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -803.8233817839568, + 106.13120336593121, + -1.0931734785380964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -802.3233817839568, + 108.72927957728453, + -1.0931734785380964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -800.8233817839568, + 111.32735578863785, + -1.0931734785380964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -799.3233817839568, + 113.92543199999116, + -1.0931734785380964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -797.8233817839568, + 116.52350821134448, + -1.0931734785380964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -796.3233817839568, + 119.1215844226978, + -1.0931734785380964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -794.8233817839568, + 121.71966063405111, + -1.0931734785380964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -793.3233817839568, + 124.31773684540443, + -1.0931734785380964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -791.8233817839568, + 126.91581305675774, + -1.0931734785380964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -790.3233817839568, + 129.51388926811106, + -1.0931734785380964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -788.8233817839568, + 132.11196547946437, + -1.0931734785380964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -787.3233817839568, + 134.7100416908177, + -1.0931734785380964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -785.8233817839568, + 137.308117902171, + -1.0931734785380964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -784.3233817839568, + 139.90619411352432, + -1.0931734785380964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -782.8233817839568, + 142.50427032487764, + -1.0931734785380964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -781.3233817839568, + 145.10234653623095, + -1.0931734785380964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -779.8233817839568, + 147.70042274758427, + -1.0931734785380964 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -779.8233817839568, + 147.70042274758427, + -1.0931734785380964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -779.8233817839568, + 150.70042274758427, + -1.0931734785380964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -779.8233817839568, + 153.70042274758427, + -1.0931734785380964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -779.8233817839568, + 156.70042274758427, + -1.0931734785380964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -779.8233817839568, + 159.70042274758427, + -1.0931734785380964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -779.8233817839568, + 162.70042274758427, + -1.0931734785380964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -779.8233817839568, + 165.70042274758427, + -1.0931734785380964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -779.8233817839568, + 168.70042274758427, + -1.0931734785380964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -779.8233817839568, + 171.70042274758427, + -1.0931734785380964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -779.8233817839568, + 174.70042274758427, + -1.0931734785380964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -779.8233817839568, + 177.70042274758427, + -1.0931734785380964 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -779.8773458862305, + 179.3161050415039, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_2-15-58_642112110/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_2-15-58_642112110/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5cfd6dbad06c5d54c14cab0fbed9d656675230f7 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_2-15-58_642112110/pose.jsonl @@ -0,0 +1,495 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -889.5657236739858, + 177.80118316446456, + 3.798925481754921 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -886.5657236739858, + 177.80118316446456, + 3.798925481754921 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -883.5657236739858, + 177.80118316446456, + 3.798925481754921 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -880.5657236739858, + 177.80118316446456, + 3.798925481754921 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -877.5657236739858, + 177.80118316446456, + 3.798925481754921 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -874.5657236739858, + 177.80118316446456, + 3.798925481754921 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -871.5657236739858, + 177.80118316446456, + 3.798925481754921 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -868.5657236739858, + 177.80118316446456, + 3.798925481754921 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -865.5657236739858, + 177.80118316446456, + 3.798925481754921 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -862.5657236739858, + 177.80118316446456, + 3.798925481754921 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -859.5657236739858, + 177.80118316446456, + 3.798925481754921 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -856.5657236739858, + 177.80118316446456, + 3.798925481754921 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -853.5657236739858, + 177.80118316446456, + 3.798925481754921 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -850.5657236739858, + 177.80118316446456, + 3.798925481754921 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -847.5657236739858, + 177.80118316446456, + 3.798925481754921 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -844.5657236739858, + 177.80118316446456, + 3.798925481754921 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -841.5657236739858, + 177.80118316446456, + 3.798925481754921 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -838.5657236739858, + 177.80118316446456, + 3.798925481754921 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -835.5657236739858, + 177.80118316446456, + 3.798925481754921 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -832.5657236739858, + 177.80118316446456, + 3.798925481754921 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -829.5657236739858, + 177.80118316446456, + 3.798925481754921 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -826.5657236739858, + 177.80118316446456, + 3.798925481754921 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -823.5657236739858, + 177.80118316446456, + 3.798925481754921 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -820.5657236739858, + 177.80118316446456, + 3.798925481754921 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -817.5657236739858, + 177.80118316446456, + 3.798925481754921 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -814.5657236739858, + 177.80118316446456, + 3.798925481754921 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -811.5657236739858, + 177.80118316446456, + 3.798925481754921 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -808.5657236739858, + 177.80118316446456, + 3.798925481754921 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -805.5657236739858, + 177.80118316446456, + 3.798925481754921 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -802.5657236739858, + 177.80118316446456, + 3.798925481754921 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -799.5657236739858, + 177.80118316446456, + 3.798925481754921 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -796.5657236739858, + 177.80118316446456, + 3.798925481754921 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -793.5657236739858, + 177.80118316446456, + 3.798925481754921 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -790.5657236739858, + 177.80118316446456, + 3.798925481754921 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -787.5657236739858, + 177.80118316446456, + 3.798925481754921 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -784.5657236739858, + 177.80118316446456, + 3.798925481754921 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -781.5657236739858, + 177.80118316446456, + 3.798925481754921 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -779.8773458862305, + 179.3161050415039, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_2-16-29_875470641/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_2-16-29_875470641/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..385b3c332c6c5ebff47f0322e2e90fd05127692d --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_2-16-29_875470641/pose.jsonl @@ -0,0 +1,404 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -377.6218459813956, + -109.50653766021881, + -4.361935791041776 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -380.2199221927489, + -111.00653766021881, + -4.361935791041776 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -382.81799840410224, + -112.50653766021881, + -4.361935791041776 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -385.41607461545556, + -114.00653766021881, + -4.361935791041776 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -388.0141508268089, + -115.50653766021881, + -4.361935791041776 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -390.6122270381622, + -117.00653766021881, + -4.361935791041776 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -393.2103032495155, + -118.50653766021881, + -4.361935791041776 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -395.8083794608688, + -120.00653766021881, + -4.361935791041776 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -398.40645567222214, + -121.50653766021881, + -4.361935791041776 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -401.00453188357545, + -123.00653766021881, + -4.361935791041776 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -403.60260809492877, + -124.50653766021881, + -4.361935791041776 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -406.2006843062821, + -126.00653766021881, + -4.361935791041776 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -408.7987605176354, + -127.50653766021881, + -4.361935791041776 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -411.3968367289887, + -129.0065376602188, + -4.361935791041776 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -413.99491294034203, + -130.5065376602188, + -4.361935791041776 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -416.59298915169535, + -132.0065376602188, + -4.361935791041776 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -419.19106536304866, + -133.5065376602188, + -4.361935791041776 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -421.789141574402, + -135.0065376602188, + -4.361935791041776 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -424.3872177857553, + -136.5065376602188, + -4.361935791041776 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -426.9852939971086, + -138.0065376602188, + -4.361935791041776 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -429.58337020846193, + -139.5065376602188, + -4.361935791041776 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -432.18144641981525, + -141.0065376602188, + -4.361935791041776 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -434.77952263116856, + -142.5065376602188, + -4.361935791041776 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -437.3775988425219, + -144.0065376602188, + -4.361935791041776 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -437.3775988425219, + -144.0065376602188, + -4.361935791041776 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -438.8775988425219, + -146.60461387157213, + -4.361935791041776 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -440.3775988425219, + -149.20269008292544, + -4.361935791041776 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -441.8775988425219, + -151.80076629427876, + -4.361935791041776 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -443.3775988425219, + -154.39884250563208, + -4.361935791041776 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -444.8775988425219, + -156.9969187169854, + -4.361935791041776 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -445.52278427124025, + -160.4525846862793, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_2-23-25_1852803193/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_2-23-25_1852803193/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d9067ff21fb886d342cd66b43a1a5e4bfb35f066 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_2-23-25_1852803193/pose.jsonl @@ -0,0 +1,404 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 462.86478212143203, + -62.548305468416984, + 4.429753953777505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 462.86478212143203, + -59.548305468416984, + 4.429753953777505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 462.86478212143203, + -56.548305468416984, + 4.429753953777505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 462.86478212143203, + -53.548305468416984, + 4.429753953777505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 462.86478212143203, + -50.548305468416984, + 4.429753953777505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 462.86478212143203, + -47.548305468416984, + 4.429753953777505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 462.86478212143203, + -44.548305468416984, + 4.429753953777505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 462.86478212143203, + -41.548305468416984, + 4.429753953777505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 462.86478212143203, + -38.548305468416984, + 4.429753953777505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 462.86478212143203, + -35.548305468416984, + 4.429753953777505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 462.86478212143203, + -32.548305468416984, + 4.429753953777505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 462.86478212143203, + -29.548305468416984, + 4.429753953777505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 462.86478212143203, + -26.548305468416984, + 4.429753953777505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 462.86478212143203, + -23.548305468416984, + 4.429753953777505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 462.86478212143203, + -20.548305468416984, + 4.429753953777505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 462.86478212143203, + -17.548305468416984, + 4.429753953777505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 462.86478212143203, + -14.548305468416984, + 4.429753953777505 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 462.86478212143203, + -14.548305468416984, + 4.429753953777505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 464.36478212143203, + -11.950229257063668, + 4.429753953777505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 465.86478212143203, + -9.352153045710352, + 4.429753953777505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 467.36478212143203, + -6.754076834357036, + 4.429753953777505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 468.86478212143203, + -4.15600062300372, + 4.429753953777505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 470.36478212143203, + -1.5579244116504043, + 4.429753953777505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 471.86478212143203, + 1.0401517997029117, + 4.429753953777505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 473.36478212143203, + 3.6382280110562277, + 4.429753953777505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 474.86478212143203, + 6.236304222409544, + 4.429753953777505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 476.36478212143203, + 8.83438043376286, + 4.429753953777505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 477.86478212143203, + 11.432456645116176, + 4.429753953777505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 479.36478212143203, + 14.030532856469492, + 4.429753953777505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 480.86478212143203, + 16.628609067822808, + 4.429753953777505 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 481.2035136413574, + 19.23793586730957, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_2-25-35_1610670806/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_2-25-35_1610670806/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cfcc0b4bc94210f5928ee6e5447ace7774ba7d40 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_2-25-35_1610670806/pose.jsonl @@ -0,0 +1,508 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 25.155442017359768, + 268.69118425268243, + -1.6704505079385128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 25.155442017359768, + 265.69118425268243, + -1.6704505079385128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 25.155442017359768, + 262.69118425268243, + -1.6704505079385128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 25.155442017359768, + 259.69118425268243, + -1.6704505079385128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 25.155442017359768, + 256.69118425268243, + -1.6704505079385128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 25.155442017359768, + 253.69118425268243, + -1.6704505079385128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 25.155442017359768, + 250.69118425268243, + -1.6704505079385128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 25.155442017359768, + 247.69118425268243, + -1.6704505079385128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 25.155442017359768, + 244.69118425268243, + -1.6704505079385128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 25.155442017359768, + 241.69118425268243, + -1.6704505079385128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 25.155442017359768, + 238.69118425268243, + -1.6704505079385128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 25.155442017359768, + 235.69118425268243, + -1.6704505079385128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 25.155442017359768, + 232.69118425268243, + -1.6704505079385128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 25.155442017359768, + 229.69118425268243, + -1.6704505079385128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 25.155442017359768, + 226.69118425268243, + -1.6704505079385128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 25.155442017359768, + 223.69118425268243, + -1.6704505079385128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 25.155442017359768, + 220.69118425268243, + -1.6704505079385128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 25.155442017359768, + 217.69118425268243, + -1.6704505079385128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 25.155442017359768, + 214.69118425268243, + -1.6704505079385128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 25.155442017359768, + 211.69118425268243, + -1.6704505079385128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 25.155442017359768, + 208.69118425268243, + -1.6704505079385128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 25.155442017359768, + 205.69118425268243, + -1.6704505079385128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 25.155442017359768, + 202.69118425268243, + -1.6704505079385128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 25.155442017359768, + 199.69118425268243, + -1.6704505079385128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 25.155442017359768, + 196.69118425268243, + -1.6704505079385128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 25.155442017359768, + 193.69118425268243, + -1.6704505079385128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 25.155442017359768, + 190.69118425268243, + -1.6704505079385128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 25.155442017359768, + 187.69118425268243, + -1.6704505079385128 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 25.155442017359768, + 187.69118425268243, + -1.6704505079385128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 26.655442017359768, + 185.09310804132912, + -1.6704505079385128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 28.155442017359768, + 182.4950318299758, + -1.6704505079385128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 29.655442017359768, + 179.89695561862248, + -1.6704505079385128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 31.155442017359768, + 177.29887940726917, + -1.6704505079385128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 32.65544201735977, + 174.70080319591585, + -1.6704505079385128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 34.15544201735977, + 172.10272698456254, + -1.6704505079385128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 35.65544201735977, + 169.50465077320922, + -1.6704505079385128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 37.15544201735977, + 166.9065745618559, + -1.6704505079385128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 38.65544201735977, + 164.3084983505026, + -1.6704505079385128 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 36.64368785858154, + 161.94002262115478, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_2-28-14_1543678155/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_2-28-14_1543678155/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..483b1a9ec6e0d166e4ca922e264b5bbb04f9866a --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_2-28-14_1543678155/pose.jsonl @@ -0,0 +1,482 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 283.4383889768087, + 609.5572513844505, + 3.1117319868797004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 281.9383889768087, + 612.1553275958038, + 3.1117319868797004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 280.4383889768087, + 614.7534038071572, + 3.1117319868797004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 278.9383889768087, + 617.3514800185105, + 3.1117319868797004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 277.4383889768087, + 619.9495562298639, + 3.1117319868797004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 275.9383889768087, + 622.5476324412173, + 3.1117319868797004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 274.4383889768087, + 625.1457086525706, + 3.1117319868797004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 272.9383889768087, + 627.743784863924, + 3.1117319868797004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 271.4383889768087, + 630.3418610752774, + 3.1117319868797004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 269.9383889768087, + 632.9399372866308, + 3.1117319868797004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 268.4383889768087, + 635.5380134979841, + 3.1117319868797004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 266.9383889768087, + 638.1360897093375, + 3.1117319868797004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 265.4383889768087, + 640.7341659206909, + 3.1117319868797004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 263.9383889768087, + 643.3322421320443, + 3.1117319868797004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 262.4383889768087, + 645.9303183433976, + 3.1117319868797004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 260.9383889768087, + 648.528394554751, + 3.1117319868797004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 259.4383889768087, + 651.1264707661044, + 3.1117319868797004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 257.9383889768087, + 653.7245469774577, + 3.1117319868797004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 256.4383889768087, + 656.3226231888111, + 3.1117319868797004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 254.9383889768087, + 658.9206994001645, + 3.1117319868797004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 253.4383889768087, + 661.5187756115179, + 3.1117319868797004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 251.9383889768087, + 664.1168518228712, + 3.1117319868797004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 250.4383889768087, + 666.7149280342246, + 3.1117319868797004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 248.9383889768087, + 669.313004245578, + 3.1117319868797004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 247.4383889768087, + 671.9110804569314, + 3.1117319868797004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 245.9383889768087, + 674.5091566682847, + 3.1117319868797004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 244.4383889768087, + 677.1072328796381, + 3.1117319868797004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 242.9383889768087, + 679.7053090909915, + 3.1117319868797004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 241.4383889768087, + 682.3033853023449, + 3.1117319868797004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 239.9383889768087, + 684.9014615136982, + 3.1117319868797004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 238.4383889768087, + 687.4995377250516, + 3.1117319868797004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 236.9383889768087, + 690.097613936405, + 3.1117319868797004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 236.9383889768087, + 690.097613936405, + 3.1117319868797004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 236.9383889768087, + 690.097613936405, + 3.1117319868797004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535897833 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 233.9383889768087, + 690.097613936405, + 3.1117319868797004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 230.9383889768087, + 690.097613936405, + 3.1117319868797004 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 229.7172834777832, + 692.2608906555175, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_2-29-46_1836997946/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_2-29-46_1836997946/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d6a3cfdc76b5c995144f0430b19f8aa2cb9bc58a --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_2-29-46_1836997946/pose.jsonl @@ -0,0 +1,495 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -738.8951231909573, + 50.538921676494056, + -3.2218059132641548 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -735.8951231909573, + 50.538921676494056, + -3.2218059132641548 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -732.8951231909573, + 50.538921676494056, + -3.2218059132641548 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -729.8951231909573, + 50.538921676494056, + -3.2218059132641548 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -726.8951231909573, + 50.538921676494056, + -3.2218059132641548 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -723.8951231909573, + 50.538921676494056, + -3.2218059132641548 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -720.8951231909573, + 50.538921676494056, + -3.2218059132641548 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -717.8951231909573, + 50.538921676494056, + -3.2218059132641548 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -714.8951231909573, + 50.538921676494056, + -3.2218059132641548 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -711.8951231909573, + 50.538921676494056, + -3.2218059132641548 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -708.8951231909573, + 50.538921676494056, + -3.2218059132641548 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -705.8951231909573, + 50.538921676494056, + -3.2218059132641548 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -702.8951231909573, + 50.538921676494056, + -3.2218059132641548 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -699.8951231909573, + 50.538921676494056, + -3.2218059132641548 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -696.8951231909573, + 50.538921676494056, + -3.2218059132641548 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -693.8951231909573, + 50.538921676494056, + -3.2218059132641548 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -690.8951231909573, + 50.538921676494056, + -3.2218059132641548 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -687.8951231909573, + 50.538921676494056, + -3.2218059132641548 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -684.8951231909573, + 50.538921676494056, + -3.2218059132641548 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -681.8951231909573, + 50.538921676494056, + -3.2218059132641548 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -678.8951231909573, + 50.538921676494056, + -3.2218059132641548 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -675.8951231909573, + 50.538921676494056, + -3.2218059132641548 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -672.8951231909573, + 50.538921676494056, + -3.2218059132641548 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -669.8951231909573, + 50.538921676494056, + -3.2218059132641548 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -666.8951231909573, + 50.538921676494056, + -3.2218059132641548 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -663.8951231909573, + 50.538921676494056, + -3.2218059132641548 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -660.8951231909573, + 50.538921676494056, + -3.2218059132641548 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -657.8951231909573, + 50.538921676494056, + -3.2218059132641548 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -654.8951231909573, + 50.538921676494056, + -3.2218059132641548 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -651.8951231909573, + 50.538921676494056, + -3.2218059132641548 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -648.8951231909573, + 50.538921676494056, + -3.2218059132641548 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -645.8951231909573, + 50.538921676494056, + -3.2218059132641548 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -642.8951231909573, + 50.538921676494056, + -3.2218059132641548 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -639.8951231909573, + 50.538921676494056, + -3.2218059132641548 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -636.8951231909573, + 50.538921676494056, + -3.2218059132641548 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -633.8951231909573, + 50.538921676494056, + -3.2218059132641548 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -630.8951231909573, + 50.538921676494056, + -3.2218059132641548 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -629.9300636291504, + 48.19314208984375, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_2-32-17_1573715235/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_2-32-17_1573715235/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..71398a485ed69643d722c77a5a133de2ad98e6ce --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_2-32-17_1573715235/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -998.1130330949184, + 183.75516382238473, + -0.11381360988350586 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -998.1130330949184, + 186.75516382238473, + -0.11381360988350586 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -998.1130330949184, + 189.75516382238473, + -0.11381360988350586 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -998.1130330949184, + 192.75516382238473, + -0.11381360988350586 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -998.1130330949184, + 195.75516382238473, + -0.11381360988350586 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -998.1130330949184, + 198.75516382238473, + -0.11381360988350586 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -998.1130330949184, + 201.75516382238473, + -0.11381360988350586 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -998.1130330949184, + 204.75516382238473, + -0.11381360988350586 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -998.1130330949184, + 207.75516382238473, + -0.11381360988350586 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -998.1130330949184, + 210.75516382238473, + -0.11381360988350586 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -998.1130330949184, + 213.75516382238473, + -0.11381360988350586 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -998.1130330949184, + 216.75516382238473, + -0.11381360988350586 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -998.1130330949184, + 219.75516382238473, + -0.11381360988350586 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -998.1130330949184, + 222.75516382238473, + -0.11381360988350586 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -998.1130330949184, + 225.75516382238473, + -0.11381360988350586 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -998.1130330949184, + 228.75516382238473, + -0.11381360988350586 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -998.1130330949184, + 231.75516382238473, + -0.11381360988350586 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -998.1130330949184, + 234.75516382238473, + -0.11381360988350586 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -998.1130330949184, + 237.75516382238473, + -0.11381360988350586 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -998.1130330949184, + 240.75516382238473, + -0.11381360988350586 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -998.1130330949184, + 240.75516382238473, + -0.11381360988350586 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -999.6130330949184, + 243.35324003373805, + -0.11381360988350586 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1001.1130330949184, + 245.95131624509136, + -0.11381360988350586 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1002.9734149169922, + 277.3824105834961, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_2-38-43_742949164/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_2-38-43_742949164/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8644ecd36c12a5b62ba2fedeadcd0e0eecf1fa8e --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_2-38-43_742949164/pose.jsonl @@ -0,0 +1,560 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -936.7320318719472, + 351.1186754537468, + 4.887329738444274 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -938.2320318719472, + 348.5205992423935, + 4.887329738444274 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -939.7320318719472, + 345.92252303104016, + 4.887329738444274 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -941.2320318719472, + 343.32444681968684, + 4.887329738444274 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -942.7320318719472, + 340.7263706083335, + 4.887329738444274 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -944.2320318719472, + 338.1282943969802, + 4.887329738444274 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -945.7320318719472, + 335.5302181856269, + 4.887329738444274 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -947.2320318719472, + 332.9321419742736, + 4.887329738444274 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -948.7320318719472, + 330.33406576292026, + 4.887329738444274 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -950.2320318719472, + 327.73598955156695, + 4.887329738444274 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -951.7320318719472, + 325.13791334021363, + 4.887329738444274 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -953.2320318719472, + 322.5398371288603, + 4.887329738444274 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -954.7320318719472, + 319.941760917507, + 4.887329738444274 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -956.2320318719472, + 317.3436847061537, + 4.887329738444274 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -957.7320318719472, + 314.74560849480036, + 4.887329738444274 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -959.2320318719472, + 312.14753228344705, + 4.887329738444274 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -960.7320318719472, + 309.54945607209373, + 4.887329738444274 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -962.2320318719472, + 306.9513798607404, + 4.887329738444274 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -963.7320318719472, + 304.3533036493871, + 4.887329738444274 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -965.2320318719472, + 301.7552274380338, + 4.887329738444274 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -966.7320318719472, + 299.15715122668047, + 4.887329738444274 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -968.2320318719472, + 296.55907501532715, + 4.887329738444274 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -969.7320318719472, + 293.96099880397384, + 4.887329738444274 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -971.2320318719472, + 291.3629225926205, + 4.887329738444274 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -972.7320318719472, + 288.7648463812672, + 4.887329738444274 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -974.2320318719472, + 286.1667701699139, + 4.887329738444274 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -975.7320318719472, + 283.5686939585606, + 4.887329738444274 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -977.2320318719472, + 280.97061774720726, + 4.887329738444274 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -978.7320318719472, + 278.37254153585394, + 4.887329738444274 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -978.7320318719472, + 278.37254153585394, + 4.887329738444274 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -978.7320318719472, + 275.37254153585394, + 4.887329738444274 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -978.7320318719472, + 272.37254153585394, + 4.887329738444274 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -978.7320318719472, + 269.37254153585394, + 4.887329738444274 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -978.7320318719472, + 266.37254153585394, + 4.887329738444274 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -978.7320318719472, + 263.37254153585394, + 4.887329738444274 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -978.7320318719472, + 260.37254153585394, + 4.887329738444274 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -978.7320318719472, + 257.37254153585394, + 4.887329738444274 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -978.7320318719472, + 254.37254153585394, + 4.887329738444274 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -978.7320318719472, + 251.37254153585394, + 4.887329738444274 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -978.7320318719472, + 248.37254153585394, + 4.887329738444274 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -978.7320318719472, + 245.37254153585394, + 4.887329738444274 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -978.7320318719472, + 242.37254153585394, + 4.887329738444274 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -978.6087219238281, + 239.76509559631347, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_2-39-2_1675644664/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_2-39-2_1675644664/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8c0a126c1fe988e8fae64ea7973b4112118588f0 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_2-39-2_1675644664/pose.jsonl @@ -0,0 +1,547 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 326.9512202277815, + 758.2696414235241, + 3.7446927233504095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 324.3531440164282, + 756.7696414235241, + 3.7446927233504095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 321.7550678050749, + 755.2696414235241, + 3.7446927233504095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 319.15699159372156, + 753.7696414235241, + 3.7446927233504095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 316.55891538236824, + 752.2696414235241, + 3.7446927233504095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 313.9608391710149, + 750.7696414235241, + 3.7446927233504095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 311.3627629596616, + 749.2696414235241, + 3.7446927233504095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 308.7646867483083, + 747.7696414235241, + 3.7446927233504095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 306.166610536955, + 746.2696414235241, + 3.7446927233504095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 303.56853432560166, + 744.7696414235241, + 3.7446927233504095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 300.97045811424834, + 743.2696414235241, + 3.7446927233504095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 298.37238190289503, + 741.7696414235241, + 3.7446927233504095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 295.7743056915417, + 740.2696414235241, + 3.7446927233504095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 293.1762294801884, + 738.7696414235241, + 3.7446927233504095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 290.5781532688351, + 737.2696414235241, + 3.7446927233504095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 287.98007705748176, + 735.7696414235241, + 3.7446927233504095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 285.38200084612845, + 734.2696414235241, + 3.7446927233504095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 282.78392463477513, + 732.7696414235241, + 3.7446927233504095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 280.1858484234218, + 731.2696414235241, + 3.7446927233504095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 277.5877722120685, + 729.7696414235241, + 3.7446927233504095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 274.9896960007152, + 728.2696414235241, + 3.7446927233504095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 272.39161978936187, + 726.7696414235241, + 3.7446927233504095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 269.79354357800855, + 725.2696414235241, + 3.7446927233504095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 267.19546736665524, + 723.7696414235241, + 3.7446927233504095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 264.5973911553019, + 722.2696414235241, + 3.7446927233504095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 261.9993149439486, + 720.7696414235241, + 3.7446927233504095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 259.4012387325953, + 719.2696414235241, + 3.7446927233504095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 256.803162521242, + 717.7696414235241, + 3.7446927233504095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 254.20508630988866, + 716.2696414235241, + 3.7446927233504095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 251.60701009853534, + 714.7696414235241, + 3.7446927233504095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 249.00893388718202, + 713.2696414235241, + 3.7446927233504095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 246.4108576758287, + 711.7696414235241, + 3.7446927233504095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 243.8127814644754, + 710.2696414235241, + 3.7446927233504095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 241.21470525312208, + 708.7696414235241, + 3.7446927233504095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 238.61662904176876, + 707.2696414235241, + 3.7446927233504095 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 238.61662904176876, + 707.2696414235241, + 3.7446927233504095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 237.11662904176876, + 704.6715652121709, + 3.7446927233504095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 235.61662904176876, + 702.0734890008175, + 3.7446927233504095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 234.11662904176876, + 699.4754127894641, + 3.7446927233504095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 232.61662904176876, + 696.8773365781108, + 3.7446927233504095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 231.11662904176876, + 694.2792603667574, + 3.7446927233504095 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 229.7172834777832, + 692.2608906555175, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_2-46-55_283467324/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_2-46-55_283467324/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f1a3d30ac530be56c851a9e88d1f6a39d5605fe2 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_2-46-55_283467324/pose.jsonl @@ -0,0 +1,521 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -370.954561610582, + -499.13329389400803, + 4.6521273692493175 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -369.454561610582, + -496.5352176826547, + 4.6521273692493175 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -367.954561610582, + -493.9371414713014, + 4.6521273692493175 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -366.454561610582, + -491.3390652599481, + 4.6521273692493175 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -364.954561610582, + -488.74098904859477, + 4.6521273692493175 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -363.454561610582, + -486.14291283724145, + 4.6521273692493175 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -361.954561610582, + -483.54483662588814, + 4.6521273692493175 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -360.454561610582, + -480.9467604145348, + 4.6521273692493175 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -358.954561610582, + -478.3486842031815, + 4.6521273692493175 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -357.454561610582, + -475.7506079918282, + 4.6521273692493175 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -355.954561610582, + -473.1525317804749, + 4.6521273692493175 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -354.454561610582, + -470.55445556912156, + 4.6521273692493175 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -352.954561610582, + -467.95637935776824, + 4.6521273692493175 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -351.454561610582, + -465.3583031464149, + 4.6521273692493175 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -349.954561610582, + -462.7602269350616, + 4.6521273692493175 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -348.454561610582, + -460.1621507237083, + 4.6521273692493175 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -346.954561610582, + -457.564074512355, + 4.6521273692493175 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -345.454561610582, + -454.96599830100166, + 4.6521273692493175 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -343.954561610582, + -452.36792208964835, + 4.6521273692493175 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -342.454561610582, + -449.76984587829503, + 4.6521273692493175 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -340.954561610582, + -447.1717696669417, + 4.6521273692493175 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -339.454561610582, + -444.5736934555884, + 4.6521273692493175 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -337.954561610582, + -441.9756172442351, + 4.6521273692493175 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -336.454561610582, + -439.37754103288177, + 4.6521273692493175 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -334.954561610582, + -436.77946482152845, + 4.6521273692493175 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -333.454561610582, + -434.18138861017513, + 4.6521273692493175 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -331.954561610582, + -431.5833123988218, + 4.6521273692493175 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -330.454561610582, + -428.9852361874685, + 4.6521273692493175 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -328.954561610582, + -426.3871599761152, + 4.6521273692493175 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -327.454561610582, + -423.78908376476187, + 4.6521273692493175 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -325.954561610582, + -421.19100755340855, + 4.6521273692493175 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -324.454561610582, + -418.59293134205524, + 4.6521273692493175 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -322.954561610582, + -415.9948551307019, + 4.6521273692493175 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -321.454561610582, + -413.3967789193486, + 4.6521273692493175 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -319.954561610582, + -410.7987027079953, + 4.6521273692493175 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -318.454561610582, + -408.200626496642, + 4.6521273692493175 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -318.454561610582, + -408.200626496642, + 4.6521273692493175 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -318.454561610582, + -408.200626496642, + 4.6521273692493175 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -319.954561610582, + -405.60255028528866, + 4.6521273692493175 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931957 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -319.6267106628418, + -403.69195602416994, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_2-47-44_1032684367/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_2-47-44_1032684367/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6544036afa3b9178bf05fba25955a57b63a82b16 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_2-47-44_1032684367/pose.jsonl @@ -0,0 +1,443 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -629.6654499696556, + 313.0909934018682, + -0.5600655430703068 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -631.1654499696556, + 310.4929171905149, + -0.5600655430703068 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -632.6654499696556, + 307.8948409791616, + -0.5600655430703068 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -634.1654499696556, + 305.29676476780827, + -0.5600655430703068 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -635.6654499696556, + 302.69868855645495, + -0.5600655430703068 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -637.1654499696556, + 300.10061234510164, + -0.5600655430703068 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -638.6654499696556, + 297.5025361337483, + -0.5600655430703068 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -640.1654499696556, + 294.904459922395, + -0.5600655430703068 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -641.6654499696556, + 292.3063837110417, + -0.5600655430703068 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -643.1654499696556, + 289.7083074996884, + -0.5600655430703068 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -644.6654499696556, + 287.11023128833506, + -0.5600655430703068 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -646.1654499696556, + 284.51215507698174, + -0.5600655430703068 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -647.6654499696556, + 281.9140788656284, + -0.5600655430703068 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -649.1654499696556, + 279.3160026542751, + -0.5600655430703068 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -650.6654499696556, + 276.7179264429218, + -0.5600655430703068 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -652.1654499696556, + 274.1198502315685, + -0.5600655430703068 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -653.6654499696556, + 271.52177402021516, + -0.5600655430703068 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -655.1654499696556, + 268.92369780886185, + -0.5600655430703068 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -656.6654499696556, + 266.32562159750853, + -0.5600655430703068 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -658.1654499696556, + 263.7275453861552, + -0.5600655430703068 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -659.6654499696556, + 261.1294691748019, + -0.5600655430703068 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -661.1654499696556, + 258.5313929634486, + -0.5600655430703068 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -662.6654499696556, + 255.93331675209527, + -0.5600655430703068 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -664.1654499696556, + 253.33524054074195, + -0.5600655430703068 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -664.1654499696556, + 253.33524054074195, + -0.5600655430703068 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -666.763526181009, + 251.83524054074195, + -0.5600655430703068 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -669.3616023923623, + 250.33524054074195, + -0.5600655430703068 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -671.9596786037157, + 248.83524054074195, + -0.5600655430703068 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -674.5577548150691, + 247.33524054074195, + -0.5600655430703068 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -677.1558310264224, + 245.83524054074195, + -0.5600655430703068 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -679.7539072377758, + 244.33524054074195, + -0.5600655430703068 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -682.3519834491292, + 242.83524054074195, + -0.5600655430703068 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -684.9500596604826, + 241.33524054074195, + -0.5600655430703068 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -684.7201055908203, + 237.53857521057128, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_2-51-1_1526446286/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_2-51-1_1526446286/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1362a71e1ff052db4b8cd99f3ba11685523b3968 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_2-51-1_1526446286/pose.jsonl @@ -0,0 +1,495 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -304.22563195576845, + -190.38520039698653, + 4.3752421494121965 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -305.72563195576845, + -192.98327660833985, + 4.3752421494121965 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -307.22563195576845, + -195.58135281969317, + 4.3752421494121965 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -308.72563195576845, + -198.17942903104648, + 4.3752421494121965 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -310.22563195576845, + -200.7775052423998, + 4.3752421494121965 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -311.72563195576845, + -203.3755814537531, + 4.3752421494121965 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -313.22563195576845, + -205.97365766510643, + 4.3752421494121965 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -314.72563195576845, + -208.57173387645975, + 4.3752421494121965 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -316.22563195576845, + -211.16981008781306, + 4.3752421494121965 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -317.72563195576845, + -213.76788629916638, + 4.3752421494121965 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -319.22563195576845, + -216.3659625105197, + 4.3752421494121965 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -320.72563195576845, + -218.964038721873, + 4.3752421494121965 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -322.22563195576845, + -221.56211493322633, + 4.3752421494121965 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -323.72563195576845, + -224.16019114457964, + 4.3752421494121965 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -325.22563195576845, + -226.75826735593296, + 4.3752421494121965 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -326.72563195576845, + -229.35634356728627, + 4.3752421494121965 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -328.22563195576845, + -231.9544197786396, + 4.3752421494121965 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -329.72563195576845, + -234.5524959899929, + 4.3752421494121965 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -331.22563195576845, + -237.15057220134622, + 4.3752421494121965 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -332.72563195576845, + -239.74864841269954, + 4.3752421494121965 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -334.22563195576845, + -242.34672462405285, + 4.3752421494121965 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -335.72563195576845, + -244.94480083540617, + 4.3752421494121965 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -337.22563195576845, + -247.5428770467595, + 4.3752421494121965 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -338.72563195576845, + -250.1409532581128, + 4.3752421494121965 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -340.22563195576845, + -252.73902946946612, + 4.3752421494121965 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -341.72563195576845, + -255.33710568081943, + 4.3752421494121965 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -343.22563195576845, + -257.93518189217275, + 4.3752421494121965 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -344.72563195576845, + -260.53325810352607, + 4.3752421494121965 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -346.22563195576845, + -263.1313343148794, + 4.3752421494121965 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -347.72563195576845, + -265.7294105262327, + 4.3752421494121965 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -349.22563195576845, + -268.327486737586, + 4.3752421494121965 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -350.72563195576845, + -270.92556294893933, + 4.3752421494121965 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -352.22563195576845, + -273.52363916029265, + 4.3752421494121965 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -353.72563195576845, + -276.12171537164596, + 4.3752421494121965 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -355.22563195576845, + -278.7197915829993, + 4.3752421494121965 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -356.72563195576845, + -281.3178677943526, + 4.3752421494121965 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -358.22563195576845, + -283.9159440057059, + 4.3752421494121965 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -357.95375900268556, + -286.8376789855957, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_2-59-3_217010946/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_2-59-3_217010946/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0d74ebe7037b1298b85bd75eca3b6f154fab3859 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_2-59-3_217010946/pose.jsonl @@ -0,0 +1,482 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -87.78028187930937, + -128.25952542991487, + 1.5707300743027162 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -90.37835809066269, + -126.75952542991487, + 1.5707300743027162 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -92.976434302016, + -125.25952542991487, + 1.5707300743027162 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -95.57451051336932, + -123.75952542991487, + 1.5707300743027162 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -98.17258672472263, + -122.25952542991487, + 1.5707300743027162 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -100.77066293607595, + -120.75952542991487, + 1.5707300743027162 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -103.36873914742927, + -119.25952542991487, + 1.5707300743027162 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -105.96681535878258, + -117.75952542991487, + 1.5707300743027162 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -108.5648915701359, + -116.25952542991487, + 1.5707300743027162 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -111.16296778148921, + -114.75952542991487, + 1.5707300743027162 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -113.76104399284253, + -113.25952542991487, + 1.5707300743027162 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -116.35912020419585, + -111.75952542991487, + 1.5707300743027162 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -118.95719641554916, + -110.25952542991487, + 1.5707300743027162 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -121.55527262690248, + -108.75952542991487, + 1.5707300743027162 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -124.1533488382558, + -107.25952542991487, + 1.5707300743027162 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -126.75142504960911, + -105.75952542991487, + 1.5707300743027162 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -126.75142504960911, + -105.75952542991487, + 1.5707300743027162 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -128.2514250496091, + -103.16144921856156, + 1.5707300743027162 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -129.7514250496091, + -100.56337300720824, + 1.5707300743027162 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -131.2514250496091, + -97.96529679585493, + 1.5707300743027162 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -132.7514250496091, + -95.36722058450161, + 1.5707300743027162 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -134.2514250496091, + -92.7691443731483, + 1.5707300743027162 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -135.7514250496091, + -90.17106816179498, + 1.5707300743027162 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -137.2514250496091, + -87.57299195044166, + 1.5707300743027162 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -138.7514250496091, + -84.97491573908835, + 1.5707300743027162 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -140.2514250496091, + -82.37683952773503, + 1.5707300743027162 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -141.7514250496091, + -79.77876331638171, + 1.5707300743027162 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -143.2514250496091, + -77.1806871050284, + 1.5707300743027162 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -144.7514250496091, + -74.58261089367508, + 1.5707300743027162 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -146.2514250496091, + -71.98453468232177, + 1.5707300743027162 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -147.7514250496091, + -69.38645847096845, + 1.5707300743027162 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -149.2514250496091, + -66.78838225961513, + 1.5707300743027162 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -149.2514250496091, + -66.78838225961513, + 1.5707300743027162 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -149.2514250496091, + -66.78838225961513, + 1.5707300743027162 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -152.2514250496091, + -66.78838225961513, + 1.5707300743027162 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -155.2514250496091, + -66.78838225961513, + 1.5707300743027162 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -156.47577671051025, + -64.65314291000367, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_3-0-35_1417988751/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_3-0-35_1417988751/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5af26f2b64c913fff6429deee6034a372116476b --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_3-0-35_1417988751/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -925.8386090852481, + 295.19251982542823, + 0.9160990459697782 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -928.8386090852481, + 295.19251982542823, + 0.9160990459697782 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -931.8386090852481, + 295.19251982542823, + 0.9160990459697782 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -934.8386090852481, + 295.19251982542823, + 0.9160990459697782 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -937.8386090852481, + 295.19251982542823, + 0.9160990459697782 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -940.8386090852481, + 295.19251982542823, + 0.9160990459697782 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -943.8386090852481, + 295.19251982542823, + 0.9160990459697782 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -946.8386090852481, + 295.19251982542823, + 0.9160990459697782 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -949.8386090852481, + 295.19251982542823, + 0.9160990459697782 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -952.8386090852481, + 295.19251982542823, + 0.9160990459697782 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -955.8386090852481, + 295.19251982542823, + 0.9160990459697782 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -958.8386090852481, + 295.19251982542823, + 0.9160990459697782 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -961.8386090852481, + 295.19251982542823, + 0.9160990459697782 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -964.8386090852481, + 295.19251982542823, + 0.9160990459697782 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -967.8386090852481, + 295.19251982542823, + 0.9160990459697782 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -970.8386090852481, + 295.19251982542823, + 0.9160990459697782 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -973.8386090852481, + 295.19251982542823, + 0.9160990459697782 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -976.8386090852481, + 295.19251982542823, + 0.9160990459697782 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -979.8386090852481, + 295.19251982542823, + 0.9160990459697782 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -982.8386090852481, + 295.19251982542823, + 0.9160990459697782 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -985.8386090852481, + 295.19251982542823, + 0.9160990459697782 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -988.8386090852481, + 295.19251982542823, + 0.9160990459697782 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -991.8386090852481, + 295.19251982542823, + 0.9160990459697782 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -994.8386090852481, + 295.19251982542823, + 0.9160990459697782 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -994.8386090852481, + 295.19251982542823, + 0.9160990459697782 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -997.4366852966014, + 296.69251982542823, + 0.9160990459697782 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1000.0347615079547, + 298.19251982542823, + 0.9160990459697782 + ], + "type": "stop", + "value": 0, + "yaw": 2.617993877991485 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1041.4117810058594, + 301.62743286132815, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_3-10-13_1476967137/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_3-10-13_1476967137/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8cf2f52d9ea3f79e81d92b13653cbc0b7f5e882e --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_3-10-13_1476967137/pose.jsonl @@ -0,0 +1,482 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -426.1075773968129, + 548.6372986412686, + -4.082862763906872 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -423.1075773968129, + 548.6372986412686, + -4.082862763906872 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -420.1075773968129, + 548.6372986412686, + -4.082862763906872 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -417.1075773968129, + 548.6372986412686, + -4.082862763906872 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -414.1075773968129, + 548.6372986412686, + -4.082862763906872 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -411.1075773968129, + 548.6372986412686, + -4.082862763906872 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -408.1075773968129, + 548.6372986412686, + -4.082862763906872 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -405.1075773968129, + 548.6372986412686, + -4.082862763906872 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -402.1075773968129, + 548.6372986412686, + -4.082862763906872 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -399.1075773968129, + 548.6372986412686, + -4.082862763906872 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -396.1075773968129, + 548.6372986412686, + -4.082862763906872 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -393.1075773968129, + 548.6372986412686, + -4.082862763906872 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -390.1075773968129, + 548.6372986412686, + -4.082862763906872 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -387.1075773968129, + 548.6372986412686, + -4.082862763906872 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -384.1075773968129, + 548.6372986412686, + -4.082862763906872 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -381.1075773968129, + 548.6372986412686, + -4.082862763906872 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -378.1075773968129, + 548.6372986412686, + -4.082862763906872 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -375.1075773968129, + 548.6372986412686, + -4.082862763906872 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -372.1075773968129, + 548.6372986412686, + -4.082862763906872 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -369.1075773968129, + 548.6372986412686, + -4.082862763906872 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -366.1075773968129, + 548.6372986412686, + -4.082862763906872 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -363.1075773968129, + 548.6372986412686, + -4.082862763906872 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -360.1075773968129, + 548.6372986412686, + -4.082862763906872 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -357.1075773968129, + 548.6372986412686, + -4.082862763906872 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -354.1075773968129, + 548.6372986412686, + -4.082862763906872 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -351.1075773968129, + 548.6372986412686, + -4.082862763906872 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -348.1075773968129, + 548.6372986412686, + -4.082862763906872 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -348.1075773968129, + 548.6372986412686, + -4.082862763906872 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -348.1075773968129, + 548.6372986412686, + -4.082862763906872 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -346.6075773968129, + 551.2353748526218, + -4.082862763906872 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -345.1075773968129, + 553.8334510639752, + -4.082862763906872 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -343.6075773968129, + 556.4315272753286, + -4.082862763906872 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -343.6075773968129, + 556.4315272753286, + -4.082862763906872 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -341.0095011854596, + 557.9315272753286, + -4.082862763906872 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -338.4114249741063, + 559.4315272753286, + -4.082862763906872 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -335.813348762753, + 560.9315272753286, + -4.082862763906872 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -335.0891884613037, + 561.9170278930663, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_3-13-43_1924200848/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_3-13-43_1924200848/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3d9ff7428525a81c1008f983843a07ce173e8f2b --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_3-13-43_1924200848/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -331.37709330515224, + -486.4627912859353, + 0.3912396789792787 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -328.37709330515224, + -486.4627912859353, + 0.3912396789792787 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -325.37709330515224, + -486.4627912859353, + 0.3912396789792787 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -322.37709330515224, + -486.4627912859353, + 0.3912396789792787 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -319.37709330515224, + -486.4627912859353, + 0.3912396789792787 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -316.37709330515224, + -486.4627912859353, + 0.3912396789792787 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -313.37709330515224, + -486.4627912859353, + 0.3912396789792787 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -310.37709330515224, + -486.4627912859353, + 0.3912396789792787 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -307.37709330515224, + -486.4627912859353, + 0.3912396789792787 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -304.37709330515224, + -486.4627912859353, + 0.3912396789792787 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -301.37709330515224, + -486.4627912859353, + 0.3912396789792787 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -298.37709330515224, + -486.4627912859353, + 0.3912396789792787 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -295.37709330515224, + -486.4627912859353, + 0.3912396789792787 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -292.37709330515224, + -486.4627912859353, + 0.3912396789792787 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -292.37709330515224, + -486.4627912859353, + 0.3912396789792787 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -292.37709330515224, + -486.4627912859353, + 0.3912396789792787 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -290.87709330515224, + -483.86471507458197, + 0.3912396789792787 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -289.37709330515224, + -481.26663886322865, + 0.3912396789792787 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -287.87709330515224, + -478.66856265187533, + 0.3912396789792787 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -286.37709330515224, + -476.070486440522, + 0.3912396789792787 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -284.87709330515224, + -473.4724102291687, + 0.3912396789792787 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -284.87709330515224, + -473.4724102291687, + 0.3912396789792787 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -282.2790170937989, + -471.9724102291687, + 0.3912396789792787 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -279.6809408824456, + -470.4724102291687, + 0.3912396789792787 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -277.0828646710923, + -468.9724102291687, + 0.3912396789792787 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -274.484788459739, + -467.4724102291687, + 0.3912396789792787 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -271.88671224838566, + -465.9724102291687, + 0.3912396789792787 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -270.6246540832519, + -464.87673126220704, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_3-16-12_770361246/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_3-16-12_770361246/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0cc2b1516f97c107dab436f33c1eb53d9412fee9 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_3-16-12_770361246/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -462.1066883195989, + -266.05247278005066, + 2.2083934182443716 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -464.7047645309522, + -264.55247278005066, + 2.2083934182443716 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -467.30284074230553, + -263.05247278005066, + 2.2083934182443716 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -469.90091695365885, + -261.55247278005066, + 2.2083934182443716 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -472.49899316501217, + -260.05247278005066, + 2.2083934182443716 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -475.0970693763655, + -258.55247278005066, + 2.2083934182443716 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -477.6951455877188, + -257.05247278005066, + 2.2083934182443716 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -480.2932217990721, + -255.55247278005066, + 2.2083934182443716 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -482.89129801042543, + -254.05247278005066, + 2.2083934182443716 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -485.48937422177875, + -252.55247278005066, + 2.2083934182443716 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -488.08745043313206, + -251.05247278005066, + 2.2083934182443716 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -490.6855266444854, + -249.55247278005066, + 2.2083934182443716 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -490.6855266444854, + -249.55247278005066, + 2.2083934182443716 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -492.1855266444854, + -246.95439656869735, + 2.2083934182443716 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -493.6855266444854, + -244.35632035734403, + 2.2083934182443716 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -495.1855266444854, + -241.75824414599072, + 2.2083934182443716 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -496.6855266444854, + -239.1601679346374, + 2.2083934182443716 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -498.1855266444854, + -236.56209172328408, + 2.2083934182443716 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -499.6855266444854, + -233.96401551193077, + 2.2083934182443716 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -501.1855266444854, + -231.36593930057745, + 2.2083934182443716 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -502.6855266444854, + -228.76786308922414, + 2.2083934182443716 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -504.1855266444854, + -226.16978687787082, + 2.2083934182443716 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -505.6855266444854, + -223.5717106665175, + 2.2083934182443716 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -507.1855266444854, + -220.9736344551642, + 2.2083934182443716 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -510.5901588439941, + -220.83477218627928, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_3-17-55_2052861120/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_3-17-55_2052861120/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ba76efe0282ee73f5cdded363bf5420fb7c6f736 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_3-17-55_2052861120/pose.jsonl @@ -0,0 +1,430 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -107.84067464316266, + 464.2042286447136, + 4.703761709635103 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -107.84067464316266, + 461.2042286447136, + 4.703761709635103 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -107.84067464316266, + 458.2042286447136, + 4.703761709635103 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -107.84067464316266, + 455.2042286447136, + 4.703761709635103 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -107.84067464316266, + 452.2042286447136, + 4.703761709635103 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -107.84067464316266, + 449.2042286447136, + 4.703761709635103 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -107.84067464316266, + 446.2042286447136, + 4.703761709635103 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -107.84067464316266, + 443.2042286447136, + 4.703761709635103 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -107.84067464316266, + 440.2042286447136, + 4.703761709635103 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -107.84067464316266, + 437.2042286447136, + 4.703761709635103 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -107.84067464316266, + 434.2042286447136, + 4.703761709635103 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -107.84067464316266, + 431.2042286447136, + 4.703761709635103 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -107.84067464316266, + 428.2042286447136, + 4.703761709635103 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -107.84067464316266, + 425.2042286447136, + 4.703761709635103 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -107.84067464316266, + 422.2042286447136, + 4.703761709635103 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -107.84067464316266, + 419.2042286447136, + 4.703761709635103 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -107.84067464316266, + 416.2042286447136, + 4.703761709635103 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -107.84067464316266, + 413.2042286447136, + 4.703761709635103 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -107.84067464316266, + 410.2042286447136, + 4.703761709635103 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -107.84067464316266, + 407.2042286447136, + 4.703761709635103 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -107.84067464316266, + 404.2042286447136, + 4.703761709635103 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -107.84067464316266, + 401.2042286447136, + 4.703761709635103 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -107.84067464316266, + 398.2042286447136, + 4.703761709635103 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -107.84067464316266, + 395.2042286447136, + 4.703761709635103 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -107.84067464316266, + 392.2042286447136, + 4.703761709635103 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -107.84067464316266, + 389.2042286447136, + 4.703761709635103 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -107.84067464316266, + 386.2042286447136, + 4.703761709635103 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -107.84067464316266, + 386.2042286447136, + 4.703761709635103 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -107.84067464316266, + 386.2042286447136, + 4.703761709635103 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -110.43875085451597, + 384.7042286447136, + 4.703761709635103 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -113.03682706586929, + 383.2042286447136, + 4.703761709635103 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -115.6349032772226, + 381.7042286447136, + 4.703761709635103 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -114.1546768951416, + 378.73713836669924, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_3-18-41_507946550/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_3-18-41_507946550/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a2eb14d5f15541846cbe64ff6196e734d58a649b --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_3-18-41_507946550/pose.jsonl @@ -0,0 +1,378 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 366.85819817396066, + 541.8540027885533, + 1.5419878990352442 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 369.85819817396066, + 541.8540027885533, + 1.5419878990352442 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 372.85819817396066, + 541.8540027885533, + 1.5419878990352442 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 375.85819817396066, + 541.8540027885533, + 1.5419878990352442 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 378.85819817396066, + 541.8540027885533, + 1.5419878990352442 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 381.85819817396066, + 541.8540027885533, + 1.5419878990352442 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 384.85819817396066, + 541.8540027885533, + 1.5419878990352442 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 387.85819817396066, + 541.8540027885533, + 1.5419878990352442 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 390.85819817396066, + 541.8540027885533, + 1.5419878990352442 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 393.85819817396066, + 541.8540027885533, + 1.5419878990352442 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 396.85819817396066, + 541.8540027885533, + 1.5419878990352442 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 399.85819817396066, + 541.8540027885533, + 1.5419878990352442 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 399.85819817396066, + 541.8540027885533, + 1.5419878990352442 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 399.85819817396066, + 541.8540027885533, + 1.5419878990352442 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 401.35819817396066, + 544.4520789999067, + 1.5419878990352442 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 402.85819817396066, + 547.0501552112601, + 1.5419878990352442 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 404.35819817396066, + 549.6482314226134, + 1.5419878990352442 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 404.35819817396066, + 549.6482314226134, + 1.5419878990352442 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 406.956274385314, + 551.1482314226134, + 1.5419878990352442 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 409.5543505966673, + 552.6482314226134, + 1.5419878990352442 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 412.1524268080206, + 554.1482314226134, + 1.5419878990352442 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 414.7505030193739, + 555.6482314226134, + 1.5419878990352442 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 417.34857923072724, + 557.1482314226134, + 1.5419878990352442 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 419.94665544208056, + 558.6482314226134, + 1.5419878990352442 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 422.54473165343387, + 560.1482314226134, + 1.5419878990352442 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 425.1428078647872, + 561.6482314226134, + 1.5419878990352442 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 427.7408840761405, + 563.1482314226134, + 1.5419878990352442 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 430.3389602874938, + 564.6482314226134, + 1.5419878990352442 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 434.03729019165036, + 563.8867979431152, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_3-22-11_1415431554/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_3-22-11_1415431554/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..53b56dd776be1613382ff8fb05f7c5bba9b5d1be --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_3-22-11_1415431554/pose.jsonl @@ -0,0 +1,391 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -656.3625023914667, + -243.5186787811332, + 2.762670232197266 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -656.3625023914667, + -240.5186787811332, + 2.762670232197266 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -656.3625023914667, + -237.5186787811332, + 2.762670232197266 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -656.3625023914667, + -234.5186787811332, + 2.762670232197266 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -656.3625023914667, + -231.5186787811332, + 2.762670232197266 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -656.3625023914667, + -228.5186787811332, + 2.762670232197266 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -656.3625023914667, + -225.5186787811332, + 2.762670232197266 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -656.3625023914667, + -222.5186787811332, + 2.762670232197266 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -656.3625023914667, + -219.5186787811332, + 2.762670232197266 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -656.3625023914667, + -216.5186787811332, + 2.762670232197266 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -656.3625023914667, + -213.5186787811332, + 2.762670232197266 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -656.3625023914667, + -210.5186787811332, + 2.762670232197266 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -656.3625023914667, + -207.5186787811332, + 2.762670232197266 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -656.3625023914667, + -204.5186787811332, + 2.762670232197266 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -656.3625023914667, + -201.5186787811332, + 2.762670232197266 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -656.3625023914667, + -198.5186787811332, + 2.762670232197266 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -656.3625023914667, + -195.5186787811332, + 2.762670232197266 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -656.3625023914667, + -192.5186787811332, + 2.762670232197266 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -656.3625023914667, + -189.5186787811332, + 2.762670232197266 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -656.3625023914667, + -186.5186787811332, + 2.762670232197266 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -656.3625023914667, + -183.5186787811332, + 2.762670232197266 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -656.3625023914667, + -180.5186787811332, + 2.762670232197266 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -656.3625023914667, + -177.5186787811332, + 2.762670232197266 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -656.3625023914667, + -174.5186787811332, + 2.762670232197266 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -656.3625023914667, + -171.5186787811332, + 2.762670232197266 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -656.3625023914667, + -171.5186787811332, + 2.762670232197266 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -657.8625023914667, + -168.92060256977987, + 2.762670232197266 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -659.3625023914667, + -166.32252635842656, + 2.762670232197266 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -660.8625023914667, + -163.72445014707324, + 2.762670232197266 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -661.3270858764648, + -162.2898444366455, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_3-24-46_2097951318/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_3-24-46_2097951318/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..75a057c3838961e36fed4e92e9ba61bdf96362fb --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_3-24-46_2097951318/pose.jsonl @@ -0,0 +1,378 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -939.0735499042835, + 276.7003190104831, + 0.9898635546374193 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -940.5735499042835, + 279.2983952218364, + 0.9898635546374193 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -942.0735499042835, + 281.89647143318973, + 0.9898635546374193 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -943.5735499042835, + 284.49454764454305, + 0.9898635546374193 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -945.0735499042835, + 287.09262385589636, + 0.9898635546374193 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -946.5735499042835, + 289.6907000672497, + 0.9898635546374193 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -948.0735499042835, + 292.288776278603, + 0.9898635546374193 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -949.5735499042835, + 294.8868524899563, + 0.9898635546374193 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -951.0735499042835, + 297.4849287013096, + 0.9898635546374193 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -952.5735499042835, + 300.08300491266294, + 0.9898635546374193 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -954.0735499042835, + 302.68108112401626, + 0.9898635546374193 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -955.5735499042835, + 305.2791573353696, + 0.9898635546374193 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -957.0735499042835, + 307.8772335467229, + 0.9898635546374193 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -958.5735499042835, + 310.4753097580762, + 0.9898635546374193 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -960.0735499042835, + 313.0733859694295, + 0.9898635546374193 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -961.5735499042835, + 315.67146218078284, + 0.9898635546374193 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -963.0735499042835, + 318.26953839213616, + 0.9898635546374193 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -964.5735499042835, + 320.86761460348947, + 0.9898635546374193 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -966.0735499042835, + 323.4656908148428, + 0.9898635546374193 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -967.5735499042835, + 326.0637670261961, + 0.9898635546374193 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -969.0735499042835, + 328.6618432375494, + 0.9898635546374193 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -970.5735499042835, + 331.25991944890274, + 0.9898635546374193 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -972.0735499042835, + 333.85799566025605, + 0.9898635546374193 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -973.5735499042835, + 336.45607187160937, + 0.9898635546374193 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -973.5735499042835, + 336.45607187160937, + 0.9898635546374193 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -973.5735499042835, + 339.45607187160937, + 0.9898635546374193 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -973.5735499042835, + 342.45607187160937, + 0.9898635546374193 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -973.5735499042835, + 345.45607187160937, + 0.9898635546374193 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -979.8297436523437, + 358.6925830078125, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_3-35-56_1815320763/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_3-35-56_1815320763/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ae01621f4f1a87de4348d0f42252bb2f5f2181a0 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_3-35-56_1815320763/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -335.90372349008544, + 1.0611614701230891, + 1.2414456667861309 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -338.50179970143876, + 2.561161470123089, + 1.2414456667861309 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -341.0998759127921, + 4.061161470123089, + 1.2414456667861309 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -343.6979521241454, + 5.561161470123089, + 1.2414456667861309 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -346.2960283354987, + 7.061161470123089, + 1.2414456667861309 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -348.894104546852, + 8.56116147012309, + 1.2414456667861309 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -351.49218075820534, + 10.06116147012309, + 1.2414456667861309 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -354.09025696955865, + 11.56116147012309, + 1.2414456667861309 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -356.68833318091197, + 13.06116147012309, + 1.2414456667861309 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -359.2864093922653, + 14.56116147012309, + 1.2414456667861309 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -361.8844856036186, + 16.06116147012309, + 1.2414456667861309 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -364.4825618149719, + 17.56116147012309, + 1.2414456667861309 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -367.08063802632523, + 19.06116147012309, + 1.2414456667861309 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -369.67871423767855, + 20.56116147012309, + 1.2414456667861309 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -369.67871423767855, + 20.56116147012309, + 1.2414456667861309 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -372.67871423767855, + 20.56116147012309, + 1.2414456667861309 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -375.67871423767855, + 20.56116147012309, + 1.2414456667861309 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -378.67871423767855, + 20.56116147012309, + 1.2414456667861309 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -381.67871423767855, + 20.56116147012309, + 1.2414456667861309 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -384.67871423767855, + 20.56116147012309, + 1.2414456667861309 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -387.67871423767855, + 20.56116147012309, + 1.2414456667861309 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -390.67871423767855, + 20.56116147012309, + 1.2414456667861309 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -393.67871423767855, + 20.56116147012309, + 1.2414456667861309 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -396.67871423767855, + 20.56116147012309, + 1.2414456667861309 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -399.67871423767855, + 20.56116147012309, + 1.2414456667861309 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -431.4943495178223, + 32.88219102859497, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_3-4-17_1622838287/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_3-4-17_1622838287/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..57d59a058a4afde91daed2257467ed65f221d78c --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_3-4-17_1622838287/pose.jsonl @@ -0,0 +1,443 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 409.5133553223352, + 77.62962933166772, + -0.013642372161089433 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 412.1114315336885, + 76.12962933166772, + -0.013642372161089433 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 414.70950774504183, + 74.62962933166772, + -0.013642372161089433 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 417.30758395639515, + 73.12962933166772, + -0.013642372161089433 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 419.90566016774847, + 71.62962933166772, + -0.013642372161089433 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 422.5037363791018, + 70.12962933166772, + -0.013642372161089433 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 425.1018125904551, + 68.62962933166772, + -0.013642372161089433 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 427.6998888018084, + 67.12962933166772, + -0.013642372161089433 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 430.29796501316173, + 65.62962933166772, + -0.013642372161089433 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 432.89604122451505, + 64.12962933166772, + -0.013642372161089433 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 435.49411743586836, + 62.629629331667715, + -0.013642372161089433 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 438.0921936472217, + 61.129629331667715, + -0.013642372161089433 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 440.690269858575, + 59.629629331667715, + -0.013642372161089433 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 443.2883460699283, + 58.129629331667715, + -0.013642372161089433 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 445.8864222812816, + 56.629629331667715, + -0.013642372161089433 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 448.48449849263494, + 55.129629331667715, + -0.013642372161089433 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 451.08257470398826, + 53.629629331667715, + -0.013642372161089433 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 453.6806509153416, + 52.129629331667715, + -0.013642372161089433 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 456.2787271266949, + 50.629629331667715, + -0.013642372161089433 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 458.8768033380482, + 49.129629331667715, + -0.013642372161089433 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 461.4748795494015, + 47.629629331667715, + -0.013642372161089433 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 464.07295576075484, + 46.129629331667715, + -0.013642372161089433 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 466.67103197210815, + 44.629629331667715, + -0.013642372161089433 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 466.67103197210815, + 44.629629331667715, + -0.013642372161089433 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 468.17103197210815, + 42.0315531203144, + -0.013642372161089433 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 469.67103197210815, + 39.43347690896108, + -0.013642372161089433 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 471.17103197210815, + 36.83540069760777, + -0.013642372161089433 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 472.67103197210815, + 34.23732448625445, + -0.013642372161089433 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 474.17103197210815, + 31.639248274901135, + -0.013642372161089433 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 475.67103197210815, + 29.04117206354782, + -0.013642372161089433 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 477.17103197210815, + 26.443095852194503, + -0.013642372161089433 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 478.67103197210815, + 23.845019640841187, + -0.013642372161089433 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 480.17103197210815, + 21.24694342948787, + -0.013642372161089433 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 481.2035136413574, + 19.23793586730957, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_3-4-34_1617869388/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_3-4-34_1617869388/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0e21aff376a631d7b714e1e7c8a01e16e4d86a63 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_3-4-34_1617869388/pose.jsonl @@ -0,0 +1,391 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -871.0009385291734, + 401.7682678398062, + -3.4112391093773295 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -873.5990147405266, + 400.2682678398062, + -3.4112391093773295 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -876.19709095188, + 398.7682678398062, + -3.4112391093773295 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -878.7951671632334, + 397.2682678398062, + -3.4112391093773295 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -881.3932433745867, + 395.7682678398062, + -3.4112391093773295 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -883.9913195859401, + 394.2682678398062, + -3.4112391093773295 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -886.5893957972935, + 392.7682678398062, + -3.4112391093773295 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -889.1874720086469, + 391.2682678398062, + -3.4112391093773295 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -891.7855482200002, + 389.7682678398062, + -3.4112391093773295 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -894.3836244313536, + 388.2682678398062, + -3.4112391093773295 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -896.981700642707, + 386.7682678398062, + -3.4112391093773295 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -899.5797768540604, + 385.2682678398062, + -3.4112391093773295 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -902.1778530654137, + 383.7682678398062, + -3.4112391093773295 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -904.7759292767671, + 382.2682678398062, + -3.4112391093773295 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -907.3740054881205, + 380.7682678398062, + -3.4112391093773295 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -909.9720816994738, + 379.2682678398062, + -3.4112391093773295 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -912.5701579108272, + 377.7682678398062, + -3.4112391093773295 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -915.1682341221806, + 376.2682678398062, + -3.4112391093773295 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -917.766310333534, + 374.7682678398062, + -3.4112391093773295 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -917.766310333534, + 374.7682678398062, + -3.4112391093773295 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -920.766310333534, + 374.7682678398062, + -3.4112391093773295 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -923.766310333534, + 374.7682678398062, + -3.4112391093773295 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -926.766310333534, + 374.7682678398062, + -3.4112391093773295 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -929.766310333534, + 374.7682678398062, + -3.4112391093773295 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -932.766310333534, + 374.7682678398062, + -3.4112391093773295 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -935.766310333534, + 374.7682678398062, + -3.4112391093773295 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -938.766310333534, + 374.7682678398062, + -3.4112391093773295 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -941.766310333534, + 374.7682678398062, + -3.4112391093773295 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -944.766310333534, + 374.7682678398062, + -3.4112391093773295 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -979.8297436523437, + 358.6925830078125, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_3-42-35_1599300131/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_3-42-35_1599300131/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e684b7e3ed0a59ca7e6e775788e76ac52d9a2fda --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_3-42-35_1599300131/pose.jsonl @@ -0,0 +1,378 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -805.2500488658758, + 188.11690454415003, + 0.837841955318023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -805.2500488658758, + 191.11690454415003, + 0.837841955318023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -805.2500488658758, + 194.11690454415003, + 0.837841955318023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -805.2500488658758, + 197.11690454415003, + 0.837841955318023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -805.2500488658758, + 200.11690454415003, + 0.837841955318023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -805.2500488658758, + 203.11690454415003, + 0.837841955318023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -805.2500488658758, + 206.11690454415003, + 0.837841955318023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -805.2500488658758, + 209.11690454415003, + 0.837841955318023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -805.2500488658758, + 212.11690454415003, + 0.837841955318023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -805.2500488658758, + 215.11690454415003, + 0.837841955318023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -805.2500488658758, + 218.11690454415003, + 0.837841955318023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -805.2500488658758, + 221.11690454415003, + 0.837841955318023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -805.2500488658758, + 224.11690454415003, + 0.837841955318023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -805.2500488658758, + 227.11690454415003, + 0.837841955318023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -805.2500488658758, + 230.11690454415003, + 0.837841955318023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -805.2500488658758, + 233.11690454415003, + 0.837841955318023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -805.2500488658758, + 236.11690454415003, + 0.837841955318023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -805.2500488658758, + 239.11690454415003, + 0.837841955318023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -805.2500488658758, + 242.11690454415003, + 0.837841955318023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -805.2500488658758, + 245.11690454415003, + 0.837841955318023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -805.2500488658758, + 248.11690454415003, + 0.837841955318023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -805.2500488658758, + 251.11690454415003, + 0.837841955318023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -805.2500488658758, + 254.11690454415003, + 0.837841955318023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -805.2500488658758, + 257.11690454415003, + 0.837841955318023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -805.2500488658758, + 260.11690454415003, + 0.837841955318023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -805.2500488658758, + 263.11690454415003, + 0.837841955318023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -805.2500488658758, + 266.11690454415003, + 0.837841955318023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -805.2500488658758, + 269.11690454415003, + 0.837841955318023 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -802.5129748535156, + 284.37975662231446, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_3-47-47_2100598388/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_3-47-47_2100598388/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c92bd8be7f6cbbc1c9d4c904194c3729ad9b8d42 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_3-47-47_2100598388/pose.jsonl @@ -0,0 +1,417 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -244.92773617372683, + -57.35404931847851, + -2.4031538997254764 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -241.92773617372683, + -57.35404931847851, + -2.4031538997254764 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -238.92773617372683, + -57.35404931847851, + -2.4031538997254764 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -235.92773617372683, + -57.35404931847851, + -2.4031538997254764 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -232.92773617372683, + -57.35404931847851, + -2.4031538997254764 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -229.92773617372683, + -57.35404931847851, + -2.4031538997254764 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -226.92773617372683, + -57.35404931847851, + -2.4031538997254764 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -223.92773617372683, + -57.35404931847851, + -2.4031538997254764 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -220.92773617372683, + -57.35404931847851, + -2.4031538997254764 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -217.92773617372683, + -57.35404931847851, + -2.4031538997254764 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -214.92773617372683, + -57.35404931847851, + -2.4031538997254764 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -211.92773617372683, + -57.35404931847851, + -2.4031538997254764 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -208.92773617372683, + -57.35404931847851, + -2.4031538997254764 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -205.92773617372683, + -57.35404931847851, + -2.4031538997254764 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -202.92773617372683, + -57.35404931847851, + -2.4031538997254764 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -199.92773617372683, + -57.35404931847851, + -2.4031538997254764 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -196.92773617372683, + -57.35404931847851, + -2.4031538997254764 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -193.92773617372683, + -57.35404931847851, + -2.4031538997254764 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -190.92773617372683, + -57.35404931847851, + -2.4031538997254764 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -187.92773617372683, + -57.35404931847851, + -2.4031538997254764 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -184.92773617372683, + -57.35404931847851, + -2.4031538997254764 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -181.92773617372683, + -57.35404931847851, + -2.4031538997254764 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -178.92773617372683, + -57.35404931847851, + -2.4031538997254764 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -175.92773617372683, + -57.35404931847851, + -2.4031538997254764 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -172.92773617372683, + -57.35404931847851, + -2.4031538997254764 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -172.92773617372683, + -57.35404931847851, + -2.4031538997254764 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -170.3296599623735, + -58.85404931847851, + -2.4031538997254764 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -167.7315837510202, + -60.35404931847851, + -2.4031538997254764 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -165.13350753966688, + -61.85404931847851, + -2.4031538997254764 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -162.53543132831356, + -63.35404931847851, + -2.4031538997254764 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -159.93735511696025, + -64.8540493184785, + -2.4031538997254764 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -156.47577671051025, + -64.65314291000367, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_3-5-51_931336718/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_3-5-51_931336718/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fa80471ea65907cfccc01755cef469d6467908f0 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_3-5-51_931336718/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -483.8863985306458, + -149.5961833628332, + 4.458561233426652 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -485.3863985306458, + -152.1942595741865, + 4.458561233426652 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -486.8863985306458, + -154.79233578553982, + 4.458561233426652 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -488.3863985306458, + -157.39041199689314, + 4.458561233426652 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -489.8863985306458, + -159.98848820824645, + 4.458561233426652 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -491.3863985306458, + -162.58656441959977, + 4.458561233426652 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -492.8863985306458, + -165.18464063095308, + 4.458561233426652 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -494.3863985306458, + -167.7827168423064, + 4.458561233426652 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -495.8863985306458, + -170.38079305365972, + 4.458561233426652 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -497.3863985306458, + -172.97886926501303, + 4.458561233426652 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -498.8863985306458, + -175.57694547636635, + 4.458561233426652 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -500.3863985306458, + -178.17502168771966, + 4.458561233426652 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -501.8863985306458, + -180.77309789907298, + 4.458561233426652 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -503.3863985306458, + -183.3711741104263, + 4.458561233426652 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -504.8863985306458, + -185.9692503217796, + 4.458561233426652 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -506.3863985306458, + -188.56732653313293, + 4.458561233426652 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -507.8863985306458, + -191.16540274448624, + 4.458561233426652 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -509.3863985306458, + -193.76347895583956, + 4.458561233426652 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -509.3863985306458, + -193.76347895583956, + 4.458561233426652 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -509.3863985306458, + -196.76347895583956, + 4.458561233426652 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -509.3863985306458, + -199.76347895583956, + 4.458561233426652 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -509.3863985306458, + -202.76347895583956, + 4.458561233426652 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -509.3863985306458, + -205.76347895583956, + 4.458561233426652 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -509.3863985306458, + -208.76347895583956, + 4.458561233426652 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -509.3863985306458, + -211.76347895583956, + 4.458561233426652 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -509.3863985306458, + -214.76347895583956, + 4.458561233426652 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -509.3863985306458, + -217.76347895583956, + 4.458561233426652 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -510.5901588439941, + -220.83477218627928, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_3-51-4_351450250/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_3-51-4_351450250/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a11301f9292abdfd12957e808dcf24112a7522ed --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_3-51-4_351450250/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -569.0987211982368, + -385.40808393005807, + -1.5027806972728994 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -567.5987211982368, + -382.81000771870475, + -1.5027806972728994 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -566.0987211982368, + -380.21193150735144, + -1.5027806972728994 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -564.5987211982368, + -377.6138552959981, + -1.5027806972728994 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -563.0987211982368, + -375.0157790846448, + -1.5027806972728994 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -561.5987211982368, + -372.4177028732915, + -1.5027806972728994 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -560.0987211982368, + -369.8196266619382, + -1.5027806972728994 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -558.5987211982368, + -367.22155045058486, + -1.5027806972728994 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -557.0987211982368, + -364.62347423923154, + -1.5027806972728994 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -555.5987211982368, + -362.0253980278782, + -1.5027806972728994 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -554.0987211982368, + -359.4273218165249, + -1.5027806972728994 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -552.5987211982368, + -356.8292456051716, + -1.5027806972728994 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -551.0987211982368, + -354.2311693938183, + -1.5027806972728994 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -549.5987211982368, + -351.63309318246496, + -1.5027806972728994 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -548.0987211982368, + -349.03501697111165, + -1.5027806972728994 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -546.5987211982368, + -346.43694075975833, + -1.5027806972728994 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -546.5987211982368, + -346.43694075975833, + -1.5027806972728994 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -546.5987211982368, + -343.43694075975833, + -1.5027806972728994 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -546.5987211982368, + -340.43694075975833, + -1.5027806972728994 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -546.5987211982368, + -337.43694075975833, + -1.5027806972728994 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -546.5987211982368, + -334.43694075975833, + -1.5027806972728994 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -546.5987211982368, + -331.43694075975833, + -1.5027806972728994 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -546.5987211982368, + -328.43694075975833, + -1.5027806972728994 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -546.5987211982368, + -325.43694075975833, + -1.5027806972728994 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -546.5987211982368, + -322.43694075975833, + -1.5027806972728994 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -546.5987211982368, + -319.43694075975833, + -1.5027806972728994 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -546.5987211982368, + -316.43694075975833, + -1.5027806972728994 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -545.8660174560547, + -312.8632476806641, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_3-57-20_97611886/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_3-57-20_97611886/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..60cb63d1bf31dfb4c4a7629b2cb7e0a3cb86d6dd --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_3-57-20_97611886/pose.jsonl @@ -0,0 +1,417 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 309.8865347795453, + 727.2015534423645, + 0.6898628622179217 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 307.28845856819197, + 725.7015534423645, + 0.6898628622179217 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 304.69038235683865, + 724.2015534423645, + 0.6898628622179217 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 302.09230614548534, + 722.7015534423645, + 0.6898628622179217 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 299.494229934132, + 721.2015534423645, + 0.6898628622179217 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 296.8961537227787, + 719.7015534423645, + 0.6898628622179217 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 294.2980775114254, + 718.2015534423645, + 0.6898628622179217 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 291.7000013000721, + 716.7015534423645, + 0.6898628622179217 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 289.10192508871876, + 715.2015534423645, + 0.6898628622179217 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 286.50384887736544, + 713.7015534423645, + 0.6898628622179217 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 283.9057726660121, + 712.2015534423645, + 0.6898628622179217 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 281.3076964546588, + 710.7015534423645, + 0.6898628622179217 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 278.7096202433055, + 709.2015534423645, + 0.6898628622179217 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 276.1115440319522, + 707.7015534423645, + 0.6898628622179217 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 273.51346782059886, + 706.2015534423645, + 0.6898628622179217 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 270.91539160924555, + 704.7015534423645, + 0.6898628622179217 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 268.31731539789223, + 703.2015534423645, + 0.6898628622179217 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 265.7192391865389, + 701.7015534423645, + 0.6898628622179217 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 263.1211629751856, + 700.2015534423645, + 0.6898628622179217 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 260.5230867638323, + 698.7015534423645, + 0.6898628622179217 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 257.92501055247897, + 697.2015534423645, + 0.6898628622179217 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 255.32693434112565, + 695.7015534423645, + 0.6898628622179217 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 252.72885812977233, + 694.2015534423645, + 0.6898628622179217 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 250.13078191841902, + 692.7015534423645, + 0.6898628622179217 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 247.5327057070657, + 691.2015534423645, + 0.6898628622179217 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 247.5327057070657, + 691.2015534423645, + 0.6898628622179217 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 244.5327057070657, + 691.2015534423645, + 0.6898628622179217 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 241.5327057070657, + 691.2015534423645, + 0.6898628622179217 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 238.5327057070657, + 691.2015534423645, + 0.6898628622179217 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 235.5327057070657, + 691.2015534423645, + 0.6898628622179217 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 232.5327057070657, + 691.2015534423645, + 0.6898628622179217 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 229.7172834777832, + 692.2608906555175, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_3-58-5_265632904/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_3-58-5_265632904/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c57ae094d9e363692e6c2f7eca348f84977f7f2b --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_3-58-5_265632904/pose.jsonl @@ -0,0 +1,495 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -732.1914804349941, + 27.186240321450796, + -0.022137713349630772 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -735.1914804349941, + 27.186240321450796, + -0.022137713349630772 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -738.1914804349941, + 27.186240321450796, + -0.022137713349630772 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -741.1914804349941, + 27.186240321450796, + -0.022137713349630772 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -744.1914804349941, + 27.186240321450796, + -0.022137713349630772 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -747.1914804349941, + 27.186240321450796, + -0.022137713349630772 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -750.1914804349941, + 27.186240321450796, + -0.022137713349630772 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -753.1914804349941, + 27.186240321450796, + -0.022137713349630772 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -756.1914804349941, + 27.186240321450796, + -0.022137713349630772 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -759.1914804349941, + 27.186240321450796, + -0.022137713349630772 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -762.1914804349941, + 27.186240321450796, + -0.022137713349630772 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -765.1914804349941, + 27.186240321450796, + -0.022137713349630772 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -768.1914804349941, + 27.186240321450796, + -0.022137713349630772 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -771.1914804349941, + 27.186240321450796, + -0.022137713349630772 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -774.1914804349941, + 27.186240321450796, + -0.022137713349630772 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -777.1914804349941, + 27.186240321450796, + -0.022137713349630772 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -780.1914804349941, + 27.186240321450796, + -0.022137713349630772 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -783.1914804349941, + 27.186240321450796, + -0.022137713349630772 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -786.1914804349941, + 27.186240321450796, + -0.022137713349630772 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -789.1914804349941, + 27.186240321450796, + -0.022137713349630772 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -792.1914804349941, + 27.186240321450796, + -0.022137713349630772 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -795.1914804349941, + 27.186240321450796, + -0.022137713349630772 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -798.1914804349941, + 27.186240321450796, + -0.022137713349630772 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -801.1914804349941, + 27.186240321450796, + -0.022137713349630772 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -804.1914804349941, + 27.186240321450796, + -0.022137713349630772 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -804.1914804349941, + 27.186240321450796, + -0.022137713349630772 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -806.7895566463474, + 25.686240321450796, + -0.022137713349630772 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -809.3876328577007, + 24.186240321450796, + -0.022137713349630772 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -811.9857090690541, + 22.686240321450796, + -0.022137713349630772 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -814.5837852804075, + 21.186240321450796, + -0.022137713349630772 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -817.1818614917609, + 19.686240321450796, + -0.022137713349630772 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -819.7799377031142, + 18.186240321450796, + -0.022137713349630772 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -822.3780139144676, + 16.686240321450796, + -0.022137713349630772 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -824.976090125821, + 15.186240321450796, + -0.022137713349630772 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -827.5741663371743, + 13.686240321450796, + -0.022137713349630772 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -830.1722425485277, + 12.186240321450796, + -0.022137713349630772 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -832.7703187598811, + 10.686240321450796, + -0.022137713349630772 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -834.8437512207031, + 12.72820457458496, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_3-7-39_298125972/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_3-7-39_298125972/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9a34f12694083d35bafcad937a1dde6a052950d8 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_3-7-39_298125972/pose.jsonl @@ -0,0 +1,443 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -309.55639590538107, + -71.71629259970538, + -2.1449609631504236 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -306.95831969402775, + -70.21629259970538, + -2.1449609631504236 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -304.36024348267443, + -68.71629259970538, + -2.1449609631504236 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -301.7621672713211, + -67.21629259970538, + -2.1449609631504236 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -299.1640910599678, + -65.71629259970538, + -2.1449609631504236 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -296.5660148486145, + -64.21629259970538, + -2.1449609631504236 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -293.96793863726117, + -62.71629259970538, + -2.1449609631504236 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -291.36986242590785, + -61.21629259970538, + -2.1449609631504236 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -288.77178621455454, + -59.71629259970538, + -2.1449609631504236 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -286.1737100032012, + -58.21629259970538, + -2.1449609631504236 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -283.5756337918479, + -56.71629259970538, + -2.1449609631504236 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -280.9775575804946, + -55.21629259970538, + -2.1449609631504236 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -278.3794813691413, + -53.71629259970538, + -2.1449609631504236 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -275.78140515778796, + -52.21629259970538, + -2.1449609631504236 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -273.18332894643464, + -50.71629259970538, + -2.1449609631504236 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -270.5852527350813, + -49.21629259970538, + -2.1449609631504236 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -267.987176523728, + -47.71629259970538, + -2.1449609631504236 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -265.3891003123747, + -46.21629259970538, + -2.1449609631504236 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -262.7910241010214, + -44.71629259970538, + -2.1449609631504236 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -260.19294788966806, + -43.21629259970538, + -2.1449609631504236 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -257.59487167831475, + -41.71629259970538, + -2.1449609631504236 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -257.59487167831475, + -41.71629259970538, + -2.1449609631504236 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -256.09487167831475, + -39.11821638835207, + -2.1449609631504236 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -254.59487167831475, + -36.52014017699875, + -2.1449609631504236 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -253.09487167831475, + -33.922063965645435, + -2.1449609631504236 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -251.59487167831475, + -31.32398775429212, + -2.1449609631504236 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -250.09487167831475, + -28.725911542938803, + -2.1449609631504236 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -248.59487167831475, + -26.127835331585487, + -2.1449609631504236 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -247.09487167831475, + -23.52975912023217, + -2.1449609631504236 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -245.59487167831475, + -20.931682908878855, + -2.1449609631504236 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -244.09487167831475, + -18.33360669752554, + -2.1449609631504236 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -242.59487167831475, + -15.735530486172223, + -2.1449609631504236 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -241.09487167831475, + -13.137454274818907, + -2.1449609631504236 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -242.29689208984374, + -10.230338129997254, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_3-9-50_376875057/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_3-9-50_376875057/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..88927ba5183d21990aba58dd7f424aba4147be18 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_3-9-50_376875057/pose.jsonl @@ -0,0 +1,79 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 487.1416398220487, + 263.4706095386957, + 0.28038756613863125 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 490.1416398220487, + 263.4706095386957, + 0.28038756613863125 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 493.1416398220487, + 263.4706095386957, + 0.28038756613863125 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 496.1416398220487, + 263.4706095386957, + 0.28038756613863125 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 499.1416398220487, + 263.4706095386957, + 0.28038756613863125 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 583.5565863037109, + 244.7667236328125, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-1-0_1920703868/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-1-0_1920703868/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8d1a313eb2e120378408b0590518decba413fa22 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-1-0_1920703868/pose.jsonl @@ -0,0 +1,391 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 229.72665553023958, + -270.3656452961053, + 3.4650038868031583 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 227.12857931888627, + -271.8656452961053, + 3.4650038868031583 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 224.53050310753295, + -273.3656452961053, + 3.4650038868031583 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 221.93242689617963, + -274.8656452961053, + 3.4650038868031583 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 219.33435068482632, + -276.3656452961053, + 3.4650038868031583 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 216.736274473473, + -277.8656452961053, + 3.4650038868031583 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 214.1381982621197, + -279.3656452961053, + 3.4650038868031583 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 211.54012205076637, + -280.8656452961053, + 3.4650038868031583 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 208.94204583941305, + -282.3656452961053, + 3.4650038868031583 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 206.34396962805974, + -283.8656452961053, + 3.4650038868031583 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 203.74589341670642, + -285.3656452961053, + 3.4650038868031583 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 201.1478172053531, + -286.8656452961053, + 3.4650038868031583 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 198.5497409939998, + -288.3656452961053, + 3.4650038868031583 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 195.95166478264647, + -289.8656452961053, + 3.4650038868031583 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 193.35358857129316, + -291.3656452961053, + 3.4650038868031583 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 190.75551235993984, + -292.8656452961053, + 3.4650038868031583 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 188.15743614858653, + -294.3656452961053, + 3.4650038868031583 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 185.5593599372332, + -295.8656452961053, + 3.4650038868031583 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 182.9612837258799, + -297.3656452961053, + 3.4650038868031583 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 180.36320751452658, + -298.8656452961053, + 3.4650038868031583 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 180.36320751452658, + -298.8656452961053, + 3.4650038868031583 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 177.36320751452658, + -298.8656452961053, + 3.4650038868031583 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 174.36320751452658, + -298.8656452961053, + 3.4650038868031583 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 171.36320751452658, + -298.8656452961053, + 3.4650038868031583 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 168.36320751452658, + -298.8656452961053, + 3.4650038868031583 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 165.36320751452658, + -298.8656452961053, + 3.4650038868031583 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 162.36320751452658, + -298.8656452961053, + 3.4650038868031583 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 162.36320751452658, + -298.8656452961053, + 3.4650038868031583 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 159.76513130317326, + -300.3656452961053, + 3.4650038868031583 + ], + "type": "stop", + "value": 0, + "yaw": 3.665191429188092 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 156.50516716003418, + -301.9973617553711, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-11-58_2032363193/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-11-58_2032363193/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..06460b746be269ca45d0f80ced1b39bef7c1f0b3 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-11-58_2032363193/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -373.0706512590681, + -178.4494147362708, + 0.3955409362282323 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -370.0706512590681, + -178.4494147362708, + 0.3955409362282323 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -367.0706512590681, + -178.4494147362708, + 0.3955409362282323 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -367.0706512590681, + -178.4494147362708, + 0.3955409362282323 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -367.0706512590681, + -178.4494147362708, + 0.3955409362282323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -365.5706512590681, + -175.85133852491748, + 0.3955409362282323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -364.0706512590681, + -173.25326231356416, + 0.3955409362282323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -362.5706512590681, + -170.65518610221085, + 0.3955409362282323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -361.0706512590681, + -168.05710989085753, + 0.3955409362282323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -359.5706512590681, + -165.45903367950422, + 0.3955409362282323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -358.0706512590681, + -162.8609574681509, + 0.3955409362282323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -356.5706512590681, + -160.26288125679758, + 0.3955409362282323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -355.0706512590681, + -157.66480504544427, + 0.3955409362282323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -353.5706512590681, + -155.06672883409095, + 0.3955409362282323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -352.0706512590681, + -152.46865262273764, + 0.3955409362282323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -350.5706512590681, + -149.87057641138432, + 0.3955409362282323 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -350.5706512590681, + -149.87057641138432, + 0.3955409362282323 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -347.97257504771477, + -148.37057641138432, + 0.3955409362282323 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -345.37449883636145, + -146.87057641138432, + 0.3955409362282323 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -342.77642262500814, + -145.37057641138432, + 0.3955409362282323 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -340.1783464136548, + -143.87057641138432, + 0.3955409362282323 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -337.5802702023015, + -142.37057641138432, + 0.3955409362282323 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -334.9821939909482, + -140.87057641138432, + 0.3955409362282323 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -332.3841177795949, + -139.37057641138432, + 0.3955409362282323 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -329.78604156824156, + -137.87057641138432, + 0.3955409362282323 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -327.18796535688824, + -136.37057641138432, + 0.3955409362282323 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -324.5898891455349, + -134.87057641138432, + 0.3955409362282323 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -323.98753799438475, + -133.34803604125977, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-12-28_971529848/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-12-28_971529848/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2fbe3b2642de4f05de54e8068be06549a346eb12 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-12-28_971529848/pose.jsonl @@ -0,0 +1,287 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -885.0851941933295, + 272.5773473994962, + -2.3374807249700362 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -882.0851941933295, + 272.5773473994962, + -2.3374807249700362 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -879.0851941933295, + 272.5773473994962, + -2.3374807249700362 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -876.0851941933295, + 272.5773473994962, + -2.3374807249700362 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -873.0851941933295, + 272.5773473994962, + -2.3374807249700362 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -870.0851941933295, + 272.5773473994962, + -2.3374807249700362 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -867.0851941933295, + 272.5773473994962, + -2.3374807249700362 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -864.0851941933295, + 272.5773473994962, + -2.3374807249700362 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -861.0851941933295, + 272.5773473994962, + -2.3374807249700362 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -858.0851941933295, + 272.5773473994962, + -2.3374807249700362 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -855.0851941933295, + 272.5773473994962, + -2.3374807249700362 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -852.0851941933295, + 272.5773473994962, + -2.3374807249700362 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -849.0851941933295, + 272.5773473994962, + -2.3374807249700362 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -846.0851941933295, + 272.5773473994962, + -2.3374807249700362 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -843.0851941933295, + 272.5773473994962, + -2.3374807249700362 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -840.0851941933295, + 272.5773473994962, + -2.3374807249700362 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -837.0851941933295, + 272.5773473994962, + -2.3374807249700362 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -837.0851941933295, + 272.5773473994962, + -2.3374807249700362 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -837.0851941933295, + 272.5773473994962, + -2.3374807249700362 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -835.5851941933295, + 275.1754236108495, + -2.3374807249700362 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -834.0851941933295, + 277.77349982220284, + -2.3374807249700362 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -802.5129748535156, + 284.37975662231446, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-13-5_1036869528/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-13-5_1036869528/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fb64f0981709ef8f131b4cb30aefa64cfeb685ac --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-13-5_1036869528/pose.jsonl @@ -0,0 +1,547 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -228.42284059161597, + 398.80468281754787, + -4.808690684565624 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -225.42284059161597, + 398.80468281754787, + -4.808690684565624 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -222.42284059161597, + 398.80468281754787, + -4.808690684565624 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -219.42284059161597, + 398.80468281754787, + -4.808690684565624 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -216.42284059161597, + 398.80468281754787, + -4.808690684565624 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -213.42284059161597, + 398.80468281754787, + -4.808690684565624 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -210.42284059161597, + 398.80468281754787, + -4.808690684565624 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -207.42284059161597, + 398.80468281754787, + -4.808690684565624 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -204.42284059161597, + 398.80468281754787, + -4.808690684565624 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -201.42284059161597, + 398.80468281754787, + -4.808690684565624 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -198.42284059161597, + 398.80468281754787, + -4.808690684565624 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -195.42284059161597, + 398.80468281754787, + -4.808690684565624 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -192.42284059161597, + 398.80468281754787, + -4.808690684565624 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -189.42284059161597, + 398.80468281754787, + -4.808690684565624 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -186.42284059161597, + 398.80468281754787, + -4.808690684565624 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -183.42284059161597, + 398.80468281754787, + -4.808690684565624 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -180.42284059161597, + 398.80468281754787, + -4.808690684565624 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -177.42284059161597, + 398.80468281754787, + -4.808690684565624 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -174.42284059161597, + 398.80468281754787, + -4.808690684565624 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -171.42284059161597, + 398.80468281754787, + -4.808690684565624 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -168.42284059161597, + 398.80468281754787, + -4.808690684565624 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -165.42284059161597, + 398.80468281754787, + -4.808690684565624 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -162.42284059161597, + 398.80468281754787, + -4.808690684565624 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -159.42284059161597, + 398.80468281754787, + -4.808690684565624 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -156.42284059161597, + 398.80468281754787, + -4.808690684565624 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -153.42284059161597, + 398.80468281754787, + -4.808690684565624 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -153.42284059161597, + 398.80468281754787, + -4.808690684565624 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -150.82476438026265, + 397.30468281754787, + -4.808690684565624 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -148.22668816890933, + 395.80468281754787, + -4.808690684565624 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -145.62861195755602, + 394.30468281754787, + -4.808690684565624 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -143.0305357462027, + 392.80468281754787, + -4.808690684565624 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -140.4324595348494, + 391.30468281754787, + -4.808690684565624 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -137.83438332349607, + 389.80468281754787, + -4.808690684565624 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -135.23630711214275, + 388.30468281754787, + -4.808690684565624 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -132.63823090078944, + 386.80468281754787, + -4.808690684565624 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -130.04015468943612, + 385.30468281754787, + -4.808690684565624 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -127.4420784780828, + 383.80468281754787, + -4.808690684565624 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -124.84400226672949, + 382.30468281754787, + -4.808690684565624 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -122.24592605537617, + 380.80468281754787, + -4.808690684565624 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -119.64784984402286, + 379.30468281754787, + -4.808690684565624 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -117.04977363266954, + 377.80468281754787, + -4.808690684565624 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -114.1546768951416, + 378.73713836669924, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-15-34_1140858988/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-15-34_1140858988/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d65bf0468f49962c57593c6197a215253c0a227b --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-15-34_1140858988/pose.jsonl @@ -0,0 +1,443 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -435.9082369163934, + -278.68837101396423, + -4.215384420042181 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -438.5063131277467, + -277.18837101396423, + -4.215384420042181 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -441.1043893391, + -275.68837101396423, + -4.215384420042181 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -443.7024655504533, + -274.18837101396423, + -4.215384420042181 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -446.30054176180664, + -272.68837101396423, + -4.215384420042181 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -448.89861797315996, + -271.18837101396423, + -4.215384420042181 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -451.4966941845133, + -269.68837101396423, + -4.215384420042181 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -454.0947703958666, + -268.18837101396423, + -4.215384420042181 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -456.6928466072199, + -266.68837101396423, + -4.215384420042181 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -459.2909228185732, + -265.18837101396423, + -4.215384420042181 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -461.88899902992654, + -263.68837101396423, + -4.215384420042181 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -464.48707524127985, + -262.18837101396423, + -4.215384420042181 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -467.08515145263317, + -260.68837101396423, + -4.215384420042181 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -469.6832276639865, + -259.18837101396423, + -4.215384420042181 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -472.2813038753398, + -257.68837101396423, + -4.215384420042181 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -474.8793800866931, + -256.18837101396423, + -4.215384420042181 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -477.47745629804643, + -254.68837101396423, + -4.215384420042181 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -480.07553250939975, + -253.18837101396423, + -4.215384420042181 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -482.67360872075307, + -251.68837101396423, + -4.215384420042181 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -485.2716849321064, + -250.18837101396423, + -4.215384420042181 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -487.8697611434597, + -248.68837101396423, + -4.215384420042181 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -490.467837354813, + -247.18837101396423, + -4.215384420042181 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -493.06591356616633, + -245.68837101396423, + -4.215384420042181 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -495.66398977751965, + -244.18837101396423, + -4.215384420042181 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -495.66398977751965, + -244.18837101396423, + -4.215384420042181 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -497.16398977751965, + -241.5902948026109, + -4.215384420042181 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -498.66398977751965, + -238.9922185912576, + -4.215384420042181 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -500.16398977751965, + -236.39414237990428, + -4.215384420042181 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -501.66398977751965, + -233.79606616855096, + -4.215384420042181 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -503.16398977751965, + -231.19798995719765, + -4.215384420042181 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -504.66398977751965, + -228.59991374584433, + -4.215384420042181 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -506.16398977751965, + -226.00183753449102, + -4.215384420042181 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -507.66398977751965, + -223.4037613231377, + -4.215384420042181 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -510.5901588439941, + -220.83477218627928, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-16-20_1116391568/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-16-20_1116391568/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..927b7d26d0eca2fe9d0c8626dd6b1af1bc4d3e4a --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-16-20_1116391568/pose.jsonl @@ -0,0 +1,378 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -714.6524579501049, + 93.36465042133291, + 2.648754393916998 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -717.6524579501049, + 93.36465042133291, + 2.648754393916998 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -720.6524579501049, + 93.36465042133291, + 2.648754393916998 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -723.6524579501049, + 93.36465042133291, + 2.648754393916998 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -726.6524579501049, + 93.36465042133291, + 2.648754393916998 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -729.6524579501049, + 93.36465042133291, + 2.648754393916998 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -732.6524579501049, + 93.36465042133291, + 2.648754393916998 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -735.6524579501049, + 93.36465042133291, + 2.648754393916998 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -738.6524579501049, + 93.36465042133291, + 2.648754393916998 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -741.6524579501049, + 93.36465042133291, + 2.648754393916998 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -744.6524579501049, + 93.36465042133291, + 2.648754393916998 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -747.6524579501049, + 93.36465042133291, + 2.648754393916998 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -750.6524579501049, + 93.36465042133291, + 2.648754393916998 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -753.6524579501049, + 93.36465042133291, + 2.648754393916998 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -756.6524579501049, + 93.36465042133291, + 2.648754393916998 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -759.6524579501049, + 93.36465042133291, + 2.648754393916998 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -762.6524579501049, + 93.36465042133291, + 2.648754393916998 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -765.6524579501049, + 93.36465042133291, + 2.648754393916998 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -768.6524579501049, + 93.36465042133291, + 2.648754393916998 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -771.6524579501049, + 93.36465042133291, + 2.648754393916998 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -774.6524579501049, + 93.36465042133291, + 2.648754393916998 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -774.6524579501049, + 93.36465042133291, + 2.648754393916998 + ], + "type": "turn left", + "value": 30, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -774.6524579501049, + 93.36465042133291, + 2.648754393916998 + ], + "type": "go straight", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -776.1524579501049, + 90.7665742099796, + 2.648754393916998 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -777.6524579501049, + 88.16849799862628, + 2.648754393916998 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -779.1524579501049, + 85.57042178727296, + 2.648754393916998 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -780.6524579501049, + 82.97234557591965, + 2.648754393916998 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -782.1524579501049, + 80.37426936456633, + 2.648754393916998 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -785.9369680786133, + 81.05284317016601, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-20-9_788513271/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-20-9_788513271/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ae0405225ed70dbcdf31318109b1d216b4705347 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-20-9_788513271/pose.jsonl @@ -0,0 +1,417 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 145.978073387336, + 721.7514785896057, + -2.73488435653338 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 148.978073387336, + 721.7514785896057, + -2.73488435653338 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 148.978073387336, + 721.7514785896057, + -2.73488435653338 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 148.978073387336, + 721.7514785896057, + -2.73488435653338 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 150.478073387336, + 724.3495548009589, + -2.73488435653338 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 151.978073387336, + 726.9476310123123, + -2.73488435653338 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 153.478073387336, + 729.5457072236657, + -2.73488435653338 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 154.978073387336, + 732.143783435019, + -2.73488435653338 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 156.478073387336, + 734.7418596463724, + -2.73488435653338 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 157.978073387336, + 737.3399358577258, + -2.73488435653338 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 159.478073387336, + 739.9380120690792, + -2.73488435653338 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 160.978073387336, + 742.5360882804325, + -2.73488435653338 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 162.478073387336, + 745.1341644917859, + -2.73488435653338 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 163.978073387336, + 747.7322407031393, + -2.73488435653338 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 165.478073387336, + 750.3303169144926, + -2.73488435653338 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 166.978073387336, + 752.928393125846, + -2.73488435653338 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 168.478073387336, + 755.5264693371994, + -2.73488435653338 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 169.978073387336, + 758.1245455485528, + -2.73488435653338 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 171.478073387336, + 760.7226217599061, + -2.73488435653338 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 171.478073387336, + 760.7226217599061, + -2.73488435653338 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 174.0761495986893, + 762.2226217599061, + -2.73488435653338 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 176.67422581004263, + 763.7226217599061, + -2.73488435653338 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 179.27230202139594, + 765.2226217599061, + -2.73488435653338 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 181.87037823274926, + 766.7226217599061, + -2.73488435653338 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 184.46845444410258, + 768.2226217599061, + -2.73488435653338 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 187.0665306554559, + 769.7226217599061, + -2.73488435653338 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 189.6646068668092, + 771.2226217599061, + -2.73488435653338 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 192.26268307816252, + 772.7226217599061, + -2.73488435653338 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 194.86075928951584, + 774.2226217599061, + -2.73488435653338 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 197.45883550086916, + 775.7226217599061, + -2.73488435653338 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 200.05691171222247, + 777.2226217599061, + -2.73488435653338 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 201.67972503662108, + 776.560556640625, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-21-9_245491186/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-21-9_245491186/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6d289ab0b14f5fa727435f218cd80fa6d6d24855 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-21-9_245491186/pose.jsonl @@ -0,0 +1,482 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -783.7730376929275, + 121.9059567726107, + 3.0623452155574284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -780.7730376929275, + 121.9059567726107, + 3.0623452155574284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -777.7730376929275, + 121.9059567726107, + 3.0623452155574284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -774.7730376929275, + 121.9059567726107, + 3.0623452155574284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -771.7730376929275, + 121.9059567726107, + 3.0623452155574284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -768.7730376929275, + 121.9059567726107, + 3.0623452155574284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -765.7730376929275, + 121.9059567726107, + 3.0623452155574284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -762.7730376929275, + 121.9059567726107, + 3.0623452155574284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -759.7730376929275, + 121.9059567726107, + 3.0623452155574284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -756.7730376929275, + 121.9059567726107, + 3.0623452155574284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -753.7730376929275, + 121.9059567726107, + 3.0623452155574284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -750.7730376929275, + 121.9059567726107, + 3.0623452155574284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -747.7730376929275, + 121.9059567726107, + 3.0623452155574284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -744.7730376929275, + 121.9059567726107, + 3.0623452155574284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -741.7730376929275, + 121.9059567726107, + 3.0623452155574284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -738.7730376929275, + 121.9059567726107, + 3.0623452155574284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -735.7730376929275, + 121.9059567726107, + 3.0623452155574284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -732.7730376929275, + 121.9059567726107, + 3.0623452155574284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -729.7730376929275, + 121.9059567726107, + 3.0623452155574284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -726.7730376929275, + 121.9059567726107, + 3.0623452155574284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -723.7730376929275, + 121.9059567726107, + 3.0623452155574284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -720.7730376929275, + 121.9059567726107, + 3.0623452155574284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -717.7730376929275, + 121.9059567726107, + 3.0623452155574284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -714.7730376929275, + 121.9059567726107, + 3.0623452155574284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -711.7730376929275, + 121.9059567726107, + 3.0623452155574284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -708.7730376929275, + 121.9059567726107, + 3.0623452155574284 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -708.7730376929275, + 121.9059567726107, + 3.0623452155574284 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -706.1749614815742, + 120.4059567726107, + 3.0623452155574284 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -703.5768852702208, + 118.9059567726107, + 3.0623452155574284 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -700.9788090588675, + 117.4059567726107, + 3.0623452155574284 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -698.3807328475141, + 115.9059567726107, + 3.0623452155574284 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -695.7826566361607, + 114.4059567726107, + 3.0623452155574284 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -693.1845804248073, + 112.9059567726107, + 3.0623452155574284 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -690.586504213454, + 111.4059567726107, + 3.0623452155574284 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -687.9884280021006, + 109.9059567726107, + 3.0623452155574284 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -685.3903517907472, + 108.4059567726107, + 3.0623452155574284 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -682.7478131103516, + 107.50352409362793, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-22-35_167793078/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-22-35_167793078/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..581406c2fffc3f08fbf29b2035fcdbb65232a9eb --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-22-35_167793078/pose.jsonl @@ -0,0 +1,430 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -277.45942559487526, + 598.7415269919543, + 3.7762831679109805 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -274.45942559487526, + 598.7415269919543, + 3.7762831679109805 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -271.45942559487526, + 598.7415269919543, + 3.7762831679109805 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -271.45942559487526, + 598.7415269919543, + 3.7762831679109805 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -271.45942559487526, + 598.7415269919543, + 3.7762831679109805 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -269.95942559487526, + 601.3396032033077, + 3.7762831679109805 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -268.45942559487526, + 603.937679414661, + 3.7762831679109805 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -266.95942559487526, + 606.5357556260144, + 3.7762831679109805 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -265.45942559487526, + 609.1338318373678, + 3.7762831679109805 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -263.95942559487526, + 611.7319080487212, + 3.7762831679109805 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -262.45942559487526, + 614.3299842600745, + 3.7762831679109805 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -260.95942559487526, + 616.9280604714279, + 3.7762831679109805 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -259.45942559487526, + 619.5261366827813, + 3.7762831679109805 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -257.95942559487526, + 622.1242128941346, + 3.7762831679109805 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -256.45942559487526, + 624.722289105488, + 3.7762831679109805 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -254.95942559487526, + 627.3203653168414, + 3.7762831679109805 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -253.45942559487526, + 629.9184415281948, + 3.7762831679109805 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -251.95942559487526, + 632.5165177395481, + 3.7762831679109805 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -250.45942559487526, + 635.1145939509015, + 3.7762831679109805 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -248.95942559487526, + 637.7126701622549, + 3.7762831679109805 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -247.45942559487526, + 640.3107463736083, + 3.7762831679109805 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -245.95942559487526, + 642.9088225849616, + 3.7762831679109805 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -244.45942559487526, + 645.506898796315, + 3.7762831679109805 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -242.95942559487526, + 648.1049750076684, + 3.7762831679109805 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -241.45942559487526, + 650.7030512190217, + 3.7762831679109805 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -239.95942559487526, + 653.3011274303751, + 3.7762831679109805 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -238.45942559487526, + 655.8992036417285, + 3.7762831679109805 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -236.95942559487526, + 658.4972798530819, + 3.7762831679109805 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -236.95942559487526, + 658.4972798530819, + 3.7762831679109805 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -234.36134938352194, + 659.9972798530819, + 3.7762831679109805 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -231.76327317216862, + 661.4972798530819, + 3.7762831679109805 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -229.1651969608153, + 662.9972798530819, + 3.7762831679109805 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -227.7933927154541, + 663.3823291015625, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-23-31_1280931765/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-23-31_1280931765/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3ae85cd6f9a560169561ec509955c9fb6b781281 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-23-31_1280931765/pose.jsonl @@ -0,0 +1,391 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 459.59013416527705, + -58.571330008117755, + -3.4816735932826726 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 461.09013416527705, + -55.97325379676444, + -3.4816735932826726 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 462.59013416527705, + -53.37517758541112, + -3.4816735932826726 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 464.09013416527705, + -50.77710137405781, + -3.4816735932826726 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 465.59013416527705, + -48.17902516270449, + -3.4816735932826726 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 467.09013416527705, + -45.580948951351175, + -3.4816735932826726 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 468.59013416527705, + -42.98287273999786, + -3.4816735932826726 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 470.09013416527705, + -40.38479652864454, + -3.4816735932826726 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 471.59013416527705, + -37.78672031729123, + -3.4816735932826726 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 473.09013416527705, + -35.18864410593791, + -3.4816735932826726 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 474.59013416527705, + -32.590567894584595, + -3.4816735932826726 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 476.09013416527705, + -29.99249168323128, + -3.4816735932826726 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 477.59013416527705, + -27.394415471877963, + -3.4816735932826726 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 479.09013416527705, + -24.796339260524647, + -3.4816735932826726 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 480.59013416527705, + -22.19826304917133, + -3.4816735932826726 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 482.09013416527705, + -19.600186837818015, + -3.4816735932826726 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 482.09013416527705, + -19.600186837818015, + -3.4816735932826726 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 482.09013416527705, + -16.600186837818015, + -3.4816735932826726 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 482.09013416527705, + -13.600186837818015, + -3.4816735932826726 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 482.09013416527705, + -10.600186837818015, + -3.4816735932826726 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 482.09013416527705, + -7.600186837818015, + -3.4816735932826726 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 482.09013416527705, + -4.600186837818015, + -3.4816735932826726 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 482.09013416527705, + -1.6001868378180149, + -3.4816735932826726 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 482.09013416527705, + 1.3998131621819851, + -3.4816735932826726 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 482.09013416527705, + 4.399813162181985, + -3.4816735932826726 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 482.09013416527705, + 7.399813162181985, + -3.4816735932826726 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 482.09013416527705, + 10.399813162181985, + -3.4816735932826726 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 482.09013416527705, + 13.399813162181985, + -3.4816735932826726 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 482.09013416527705, + 16.399813162181985, + -3.4816735932826726 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 481.2035136413574, + 19.23793586730957, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-23-46_739068399/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-23-46_739068399/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..01b4b2b0d4def647ea129b0e09b1d5127180a93c --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-23-46_739068399/pose.jsonl @@ -0,0 +1,378 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -275.7614737143825, + 61.28209704104218, + 4.342950609732467 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -274.2614737143825, + 58.68402082968886, + 4.342950609732467 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -272.7614737143825, + 56.085944618335546, + 4.342950609732467 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -271.2614737143825, + 53.48786840698223, + 4.342950609732467 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -269.7614737143825, + 50.889792195628914, + 4.342950609732467 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -268.2614737143825, + 48.2917159842756, + 4.342950609732467 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -266.7614737143825, + 45.69363977292228, + 4.342950609732467 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -265.2614737143825, + 43.095563561568966, + 4.342950609732467 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -263.7614737143825, + 40.49748735021565, + 4.342950609732467 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -262.2614737143825, + 37.899411138862334, + 4.342950609732467 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -260.7614737143825, + 35.30133492750902, + 4.342950609732467 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -259.2614737143825, + 32.7032587161557, + 4.342950609732467 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -257.7614737143825, + 30.105182504802386, + 4.342950609732467 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -256.2614737143825, + 27.50710629344907, + 4.342950609732467 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -254.76147371438248, + 24.909030082095754, + 4.342950609732467 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -253.26147371438248, + 22.310953870742438, + 4.342950609732467 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -251.76147371438248, + 19.71287765938912, + 4.342950609732467 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -250.26147371438248, + 17.114801448035806, + 4.342950609732467 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -248.76147371438248, + 14.51672523668249, + 4.342950609732467 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -247.26147371438248, + 11.918649025329174, + 4.342950609732467 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -245.76147371438248, + 9.320572813975858, + 4.342950609732467 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -244.26147371438248, + 6.722496602622542, + 4.342950609732467 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -244.26147371438248, + 6.722496602622542, + 4.342950609732467 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -244.26147371438248, + 3.7224966026225417, + 4.342950609732467 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -244.26147371438248, + 0.7224966026225417, + 4.342950609732467 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -244.26147371438248, + -2.2775033973774583, + 4.342950609732467 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -244.26147371438248, + -5.277503397377458, + 4.342950609732467 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -244.26147371438248, + -8.277503397377458, + 4.342950609732467 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -242.29689208984374, + -10.230338129997254, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-23-7_1745693059/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-23-7_1745693059/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..be49dd3c750db346ed3ec5022e333fb8f7b49df9 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-23-7_1745693059/pose.jsonl @@ -0,0 +1,443 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -647.1570595544058, + 172.61444587039261, + -2.111378700233338 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -648.6570595544058, + 175.21252208174593, + -2.111378700233338 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -650.1570595544058, + 177.81059829309925, + -2.111378700233338 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -651.6570595544058, + 180.40867450445256, + -2.111378700233338 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -653.1570595544058, + 183.00675071580588, + -2.111378700233338 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -654.6570595544058, + 185.6048269271592, + -2.111378700233338 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -656.1570595544058, + 188.2029031385125, + -2.111378700233338 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -657.6570595544058, + 190.80097934986583, + -2.111378700233338 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -659.1570595544058, + 193.39905556121914, + -2.111378700233338 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -660.6570595544058, + 195.99713177257246, + -2.111378700233338 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -662.1570595544058, + 198.59520798392577, + -2.111378700233338 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -663.6570595544058, + 201.1932841952791, + -2.111378700233338 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -665.1570595544058, + 203.7913604066324, + -2.111378700233338 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -666.6570595544058, + 206.38943661798572, + -2.111378700233338 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -668.1570595544058, + 208.98751282933904, + -2.111378700233338 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -669.6570595544058, + 211.58558904069235, + -2.111378700233338 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -671.1570595544058, + 214.18366525204567, + -2.111378700233338 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -672.6570595544058, + 216.781741463399, + -2.111378700233338 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -674.1570595544058, + 219.3798176747523, + -2.111378700233338 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -675.6570595544058, + 221.97789388610562, + -2.111378700233338 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -677.1570595544058, + 224.57597009745894, + -2.111378700233338 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -678.6570595544058, + 227.17404630881225, + -2.111378700233338 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -680.1570595544058, + 229.77212252016557, + -2.111378700233338 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -681.6570595544058, + 232.37019873151888, + -2.111378700233338 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -683.1570595544058, + 234.9682749428722, + -2.111378700233338 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -684.6570595544058, + 237.56635115422552, + -2.111378700233338 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -684.6570595544058, + 237.56635115422552, + -2.111378700233338 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -684.6570595544058, + 240.56635115422552, + -2.111378700233338 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -684.6570595544058, + 243.56635115422552, + -2.111378700233338 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -684.6570595544058, + 246.56635115422552, + -2.111378700233338 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -684.6570595544058, + 249.56635115422552, + -2.111378700233338 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -684.6570595544058, + 252.56635115422552, + -2.111378700233338 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -684.6570595544058, + 255.56635115422552, + -2.111378700233338 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -686.6680834960937, + 258.1570868682861, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-26-15_1117726230/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-26-15_1117726230/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..98acff54e6ff7a33aa1d569647856fd94c12a87c --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-26-15_1117726230/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -625.5197081460389, + -21.709462581863136, + -0.5312460602816262 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -625.5197081460389, + -18.709462581863136, + -0.5312460602816262 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -625.5197081460389, + -15.709462581863136, + -0.5312460602816262 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -625.5197081460389, + -12.709462581863136, + -0.5312460602816262 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -625.5197081460389, + -9.709462581863136, + -0.5312460602816262 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -625.5197081460389, + -6.709462581863136, + -0.5312460602816262 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -625.5197081460389, + -3.7094625818631357, + -0.5312460602816262 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -625.5197081460389, + -0.7094625818631357, + -0.5312460602816262 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -625.5197081460389, + 2.2905374181368643, + -0.5312460602816262 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -625.5197081460389, + 5.290537418136864, + -0.5312460602816262 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -625.5197081460389, + 8.290537418136864, + -0.5312460602816262 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -625.5197081460389, + 11.290537418136864, + -0.5312460602816262 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -625.5197081460389, + 14.290537418136864, + -0.5312460602816262 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -625.5197081460389, + 17.290537418136864, + -0.5312460602816262 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -625.5197081460389, + 20.290537418136864, + -0.5312460602816262 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -625.5197081460389, + 23.290537418136864, + -0.5312460602816262 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -625.5197081460389, + 26.290537418136864, + -0.5312460602816262 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -625.5197081460389, + 29.290537418136864, + -0.5312460602816262 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -625.5197081460389, + 32.290537418136864, + -0.5312460602816262 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -625.5197081460389, + 35.290537418136864, + -0.5312460602816262 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -625.5197081460389, + 38.290537418136864, + -0.5312460602816262 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -625.5197081460389, + 41.290537418136864, + -0.5312460602816262 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -625.5197081460389, + 41.290537418136864, + -0.5312460602816262 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -627.0197081460389, + 43.88861362949018, + -0.5312460602816262 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -628.5197081460389, + 46.486689840843496, + -0.5312460602816262 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -629.9300636291504, + 48.19314208984375, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-26-48_494220239/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-26-48_494220239/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f76f9736f9677613dade0525e35881f3e59a77bc --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-26-48_494220239/pose.jsonl @@ -0,0 +1,443 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -711.2367546465945, + 359.7288274451853, + -0.6188439784131026 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -709.7367546465945, + 357.130751233832, + -0.6188439784131026 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -708.2367546465945, + 354.53267502247866, + -0.6188439784131026 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -706.7367546465945, + 351.93459881112534, + -0.6188439784131026 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -705.2367546465945, + 349.336522599772, + -0.6188439784131026 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -703.7367546465945, + 346.7384463884187, + -0.6188439784131026 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -702.2367546465945, + 344.1403701770654, + -0.6188439784131026 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -700.7367546465945, + 341.5422939657121, + -0.6188439784131026 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -699.2367546465945, + 338.94421775435876, + -0.6188439784131026 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -697.7367546465945, + 336.34614154300544, + -0.6188439784131026 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -696.2367546465945, + 333.74806533165213, + -0.6188439784131026 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -694.7367546465945, + 331.1499891202988, + -0.6188439784131026 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -693.2367546465945, + 328.5519129089455, + -0.6188439784131026 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -691.7367546465945, + 325.9538366975922, + -0.6188439784131026 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -690.2367546465945, + 323.35576048623886, + -0.6188439784131026 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -688.7367546465945, + 320.75768427488555, + -0.6188439784131026 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -687.2367546465945, + 318.15960806353223, + -0.6188439784131026 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -685.7367546465945, + 315.5615318521789, + -0.6188439784131026 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -684.2367546465945, + 312.9634556408256, + -0.6188439784131026 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -682.7367546465945, + 310.3653794294723, + -0.6188439784131026 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -681.2367546465945, + 307.76730321811897, + -0.6188439784131026 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -679.7367546465945, + 305.16922700676565, + -0.6188439784131026 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -678.2367546465945, + 302.57115079541234, + -0.6188439784131026 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -676.7367546465945, + 299.973074584059, + -0.6188439784131026 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -675.2367546465945, + 297.3749983727057, + -0.6188439784131026 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -673.7367546465945, + 294.7769221613524, + -0.6188439784131026 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -672.2367546465945, + 292.1788459499991, + -0.6188439784131026 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -670.7367546465945, + 289.58076973864576, + -0.6188439784131026 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -670.7367546465945, + 289.58076973864576, + -0.6188439784131026 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -670.7367546465945, + 286.58076973864576, + -0.6188439784131026 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -670.7367546465945, + 283.58076973864576, + -0.6188439784131026 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -670.7367546465945, + 280.58076973864576, + -0.6188439784131026 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -670.7367546465945, + 277.58076973864576, + -0.6188439784131026 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -669.1686190795898, + 276.07490257263186, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-26-5_1791321676/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-26-5_1791321676/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..29a7c35cf95463dd4c954aea56b18f8a24d697c2 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-26-5_1791321676/pose.jsonl @@ -0,0 +1,209 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -977.439509915602, + 205.2928395903053, + 2.164210808879373 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -978.939509915602, + 207.89091580165862, + 2.164210808879373 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -980.439509915602, + 210.48899201301194, + 2.164210808879373 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -981.939509915602, + 213.08706822436525, + 2.164210808879373 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -983.439509915602, + 215.68514443571857, + 2.164210808879373 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -984.939509915602, + 218.2832206470719, + 2.164210808879373 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -986.439509915602, + 220.8812968584252, + 2.164210808879373 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -987.939509915602, + 223.47937306977852, + 2.164210808879373 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -989.439509915602, + 226.07744928113183, + 2.164210808879373 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -990.939509915602, + 228.67552549248515, + 2.164210808879373 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -992.439509915602, + 231.27360170383847, + 2.164210808879373 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -993.939509915602, + 233.87167791519178, + 2.164210808879373 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -995.439509915602, + 236.4697541265451, + 2.164210808879373 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -996.939509915602, + 239.0678303378984, + 2.164210808879373 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -998.439509915602, + 241.66590654925173, + 2.164210808879373 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1041.4117810058594, + 301.62743286132815, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-27-23_819599372/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-27-23_819599372/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1d0aac87375513df22b935663c05d4b502e6ff24 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-27-23_819599372/pose.jsonl @@ -0,0 +1,547 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -240.661953256586, + 12.87619133721951, + 0.18330299292970764 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -238.0638770452327, + 11.37619133721951, + 0.18330299292970764 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -235.46580083387937, + 9.87619133721951, + 0.18330299292970764 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -232.86772462252605, + 8.37619133721951, + 0.18330299292970764 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -230.26964841117274, + 6.87619133721951, + 0.18330299292970764 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -227.67157219981942, + 5.37619133721951, + 0.18330299292970764 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -225.0734959884661, + 3.8761913372195096, + 0.18330299292970764 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -222.4754197771128, + 2.3761913372195096, + 0.18330299292970764 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -219.87734356575947, + 0.8761913372195098, + 0.18330299292970764 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -217.27926735440616, + -0.62380866278049, + 0.18330299292970764 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -214.68119114305284, + -2.1238086627804895, + 0.18330299292970764 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982987 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -212.08311493169953, + -3.6238086627804895, + 0.18330299292970764 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -209.4850387203462, + -5.1238086627804895, + 0.18330299292970764 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -206.8869625089929, + -6.6238086627804895, + 0.18330299292970764 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -204.28888629763958, + -8.123808662780489, + 0.18330299292970764 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982986 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -201.69081008628626, + -9.623808662780489, + 0.18330299292970764 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -199.09273387493295, + -11.123808662780489, + 0.18330299292970764 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -196.49465766357963, + -12.623808662780489, + 0.18330299292970764 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -193.89658145222631, + -14.123808662780489, + 0.18330299292970764 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -191.298505240873, + -15.623808662780489, + 0.18330299292970764 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -188.70042902951968, + -17.123808662780487, + 0.18330299292970764 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982984 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -186.10235281816637, + -18.623808662780487, + 0.18330299292970764 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -183.50427660681305, + -20.123808662780487, + 0.18330299292970764 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -183.50427660681305, + -20.123808662780487, + 0.18330299292970764 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -182.00427660681305, + -22.721884874133803, + 0.18330299292970764 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -180.50427660681305, + -25.31996108548712, + 0.18330299292970764 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -179.00427660681305, + -27.918037296840435, + 0.18330299292970764 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -177.50427660681305, + -30.51611350819375, + 0.18330299292970764 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -176.00427660681305, + -33.11418971954707, + 0.18330299292970764 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965983 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -174.50427660681305, + -35.71226593090039, + 0.18330299292970764 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -173.00427660681305, + -38.3103421422537, + 0.18330299292970764 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -171.50427660681305, + -40.90841835360702, + 0.18330299292970764 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -170.00427660681305, + -43.506494564960335, + 0.18330299292970764 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -168.50427660681305, + -46.10457077631365, + 0.18330299292970764 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -167.00427660681305, + -48.70264698766697, + 0.18330299292970764 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -165.50427660681305, + -51.30072319902028, + 0.18330299292970764 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -164.00427660681305, + -53.8987994103736, + 0.18330299292970764 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -162.50427660681305, + -56.496875621726915, + 0.18330299292970764 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -161.00427660681305, + -59.09495183308023, + 0.18330299292970764 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -159.50427660681305, + -61.69302804443355, + 0.18330299292970764 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -158.00427660681305, + -64.29110425578686, + 0.18330299292970764 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -156.47577671051025, + -64.65314291000367, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-34-2_47610720/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-34-2_47610720/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8222a3c980ebeaf6301225eb34687b9803b84231 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-34-2_47610720/pose.jsonl @@ -0,0 +1,508 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 59.15681998490558, + 57.137169529518516, + -3.351497107789501 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 59.15681998490558, + 60.137169529518516, + -3.351497107789501 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 59.15681998490558, + 63.137169529518516, + -3.351497107789501 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 59.15681998490558, + 66.13716952951852, + -3.351497107789501 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 59.15681998490558, + 69.13716952951852, + -3.351497107789501 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 59.15681998490558, + 72.13716952951852, + -3.351497107789501 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 59.15681998490558, + 75.13716952951852, + -3.351497107789501 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 59.15681998490558, + 78.13716952951852, + -3.351497107789501 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 59.15681998490558, + 81.13716952951852, + -3.351497107789501 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 59.15681998490558, + 84.13716952951852, + -3.351497107789501 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 59.15681998490558, + 87.13716952951852, + -3.351497107789501 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 59.15681998490558, + 90.13716952951852, + -3.351497107789501 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 59.15681998490558, + 93.13716952951852, + -3.351497107789501 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 59.15681998490558, + 96.13716952951852, + -3.351497107789501 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 59.15681998490558, + 99.13716952951852, + -3.351497107789501 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 59.15681998490558, + 102.13716952951852, + -3.351497107789501 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 59.15681998490558, + 105.13716952951852, + -3.351497107789501 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 59.15681998490558, + 108.13716952951852, + -3.351497107789501 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 59.15681998490558, + 111.13716952951852, + -3.351497107789501 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 59.15681998490558, + 114.13716952951852, + -3.351497107789501 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 59.15681998490558, + 117.13716952951852, + -3.351497107789501 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 59.15681998490558, + 120.13716952951852, + -3.351497107789501 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 59.15681998490558, + 123.13716952951852, + -3.351497107789501 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 59.15681998490558, + 123.13716952951852, + -3.351497107789501 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 57.65681998490558, + 125.73524574087183, + -3.351497107789501 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 56.15681998490558, + 128.33332195222516, + -3.351497107789501 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393193 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 54.65681998490558, + 130.93139816357848, + -3.351497107789501 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 53.15681998490558, + 133.5294743749318, + -3.351497107789501 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 51.65681998490558, + 136.1275505862851, + -3.351497107789501 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 50.15681998490558, + 138.72562679763843, + -3.351497107789501 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 48.65681998490558, + 141.32370300899174, + -3.351497107789501 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 47.15681998490558, + 143.92177922034506, + -3.351497107789501 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 45.65681998490558, + 146.51985543169837, + -3.351497107789501 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 44.15681998490558, + 149.1179316430517, + -3.351497107789501 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 42.65681998490558, + 151.716007854405, + -3.351497107789501 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 41.15681998490558, + 154.31408406575832, + -3.351497107789501 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 39.65681998490558, + 156.91216027711164, + -3.351497107789501 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 38.15681998490558, + 159.51023648846495, + -3.351497107789501 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 36.64368785858154, + 161.94002262115478, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-41-28_715577216/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-41-28_715577216/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9953b7b752a6e11ff72a306d3ae3dcf331913232 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-41-28_715577216/pose.jsonl @@ -0,0 +1,521 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -781.0856791669243, + 196.9689282659266, + -3.1818331573151504 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -779.5856791669243, + 199.5670044772799, + -3.1818331573151504 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -778.0856791669243, + 202.16508068863322, + -3.1818331573151504 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -776.5856791669243, + 204.76315689998654, + -3.1818331573151504 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -776.5856791669243, + 204.76315689998654, + -3.1818331573151504 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -773.987602955571, + 206.26315689998654, + -3.1818331573151504 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -771.3895267442176, + 207.76315689998654, + -3.1818331573151504 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -768.7914505328642, + 209.26315689998654, + -3.1818331573151504 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -766.1933743215109, + 210.76315689998654, + -3.1818331573151504 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -763.5952981101575, + 212.26315689998654, + -3.1818331573151504 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -760.9972218988041, + 213.76315689998654, + -3.1818331573151504 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -758.3991456874508, + 215.26315689998654, + -3.1818331573151504 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -755.8010694760974, + 216.76315689998654, + -3.1818331573151504 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -753.202993264744, + 218.26315689998654, + -3.1818331573151504 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -750.6049170533906, + 219.76315689998654, + -3.1818331573151504 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -748.0068408420373, + 221.26315689998654, + -3.1818331573151504 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -745.4087646306839, + 222.76315689998654, + -3.1818331573151504 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -742.8106884193305, + 224.26315689998654, + -3.1818331573151504 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -740.2126122079771, + 225.76315689998654, + -3.1818331573151504 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -737.6145359966238, + 227.26315689998654, + -3.1818331573151504 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -735.0164597852704, + 228.76315689998654, + -3.1818331573151504 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -732.418383573917, + 230.26315689998654, + -3.1818331573151504 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -729.8203073625637, + 231.76315689998654, + -3.1818331573151504 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -727.2222311512103, + 233.26315689998654, + -3.1818331573151504 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -724.6241549398569, + 234.76315689998654, + -3.1818331573151504 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -722.0260787285035, + 236.26315689998654, + -3.1818331573151504 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -719.4280025171502, + 237.76315689998654, + -3.1818331573151504 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -716.8299263057968, + 239.26315689998654, + -3.1818331573151504 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -714.2318500944434, + 240.76315689998654, + -3.1818331573151504 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -711.63377388309, + 242.26315689998654, + -3.1818331573151504 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -709.0356976717367, + 243.76315689998654, + -3.1818331573151504 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -706.4376214603833, + 245.26315689998654, + -3.1818331573151504 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -703.8395452490299, + 246.76315689998654, + -3.1818331573151504 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -701.2414690376766, + 248.26315689998654, + -3.1818331573151504 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -698.6433928263232, + 249.76315689998654, + -3.1818331573151504 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -696.0453166149698, + 251.26315689998654, + -3.1818331573151504 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -693.4472404036164, + 252.76315689998654, + -3.1818331573151504 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -690.8491641922631, + 254.26315689998654, + -3.1818331573151504 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -688.2510879809097, + 255.76315689998654, + -3.1818331573151504 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -686.6680834960937, + 258.1570868682861, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-55-0_269026234/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-55-0_269026234/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..962a1369bb38409a4bb091ce4b69968fdf0c0ed5 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-55-0_269026234/pose.jsonl @@ -0,0 +1,378 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -970.7212192326381, + 204.9644325781793, + -2.853580389117197 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -972.2212192326381, + 207.56250878953261, + -2.853580389117197 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -973.7212192326381, + 210.16058500088593, + -2.853580389117197 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -975.2212192326381, + 212.75866121223925, + -2.853580389117197 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -976.7212192326381, + 215.35673742359256, + -2.853580389117197 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -978.2212192326381, + 217.95481363494588, + -2.853580389117197 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -979.7212192326381, + 220.5528898462992, + -2.853580389117197 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -981.2212192326381, + 223.1509660576525, + -2.853580389117197 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -982.7212192326381, + 225.74904226900583, + -2.853580389117197 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -984.2212192326381, + 228.34711848035914, + -2.853580389117197 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -985.7212192326381, + 230.94519469171246, + -2.853580389117197 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -987.2212192326381, + 233.54327090306577, + -2.853580389117197 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -988.7212192326381, + 236.1413471144191, + -2.853580389117197 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -990.2212192326381, + 238.7394233257724, + -2.853580389117197 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -991.7212192326381, + 241.33749953712572, + -2.853580389117197 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -993.2212192326381, + 243.93557574847904, + -2.853580389117197 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -994.7212192326381, + 246.53365195983235, + -2.853580389117197 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -996.2212192326381, + 249.13172817118567, + -2.853580389117197 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -997.7212192326381, + 251.729804382539, + -2.853580389117197 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -997.7212192326381, + 251.729804382539, + -2.853580389117197 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -997.7212192326381, + 254.729804382539, + -2.853580389117197 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -997.7212192326381, + 257.729804382539, + -2.853580389117197 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -997.7212192326381, + 260.729804382539, + -2.853580389117197 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -997.7212192326381, + 263.729804382539, + -2.853580389117197 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -997.7212192326381, + 266.729804382539, + -2.853580389117197 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -997.7212192326381, + 269.729804382539, + -2.853580389117197 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -997.7212192326381, + 269.729804382539, + -2.853580389117197 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -999.2212192326381, + 272.3278805938923, + -2.853580389117197 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1002.9734149169922, + 277.3824105834961, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-9-23_1127167744/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-9-23_1127167744/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bbdfefdcef77c6587b7f45947309c910ca205c26 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-9-23_1127167744/pose.jsonl @@ -0,0 +1,378 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -965.6321160125252, + 203.32050702491438, + 3.1989477771773327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -967.1321160125252, + 205.9185832362677, + 3.1989477771773327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -968.6321160125252, + 208.516659447621, + 3.1989477771773327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -970.1321160125252, + 211.11473565897433, + 3.1989477771773327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -971.6321160125252, + 213.71281187032764, + 3.1989477771773327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -973.1321160125252, + 216.31088808168096, + 3.1989477771773327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -974.6321160125252, + 218.90896429303427, + 3.1989477771773327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -976.1321160125252, + 221.5070405043876, + 3.1989477771773327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -977.6321160125252, + 224.1051167157409, + 3.1989477771773327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -979.1321160125252, + 226.70319292709422, + 3.1989477771773327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -980.6321160125252, + 229.30126913844754, + 3.1989477771773327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -982.1321160125252, + 231.89934534980085, + 3.1989477771773327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -983.6321160125252, + 234.49742156115417, + 3.1989477771773327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -985.1321160125252, + 237.09549777250749, + 3.1989477771773327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -986.6321160125252, + 239.6935739838608, + 3.1989477771773327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -988.1321160125252, + 242.29165019521412, + 3.1989477771773327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -989.6321160125252, + 244.88972640656743, + 3.1989477771773327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -991.1321160125252, + 247.48780261792075, + 3.1989477771773327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -992.6321160125252, + 250.08587882927407, + 3.1989477771773327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -994.1321160125252, + 252.68395504062738, + 3.1989477771773327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -995.6321160125252, + 255.2820312519807, + 3.1989477771773327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -997.1321160125252, + 257.880107463334, + 3.1989477771773327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -998.6321160125252, + 260.47818367468733, + 3.1989477771773327 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -998.6321160125252, + 260.47818367468733, + 3.1989477771773327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -998.6321160125252, + 263.47818367468733, + 3.1989477771773327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -998.6321160125252, + 266.47818367468733, + 3.1989477771773327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -998.6321160125252, + 269.47818367468733, + 3.1989477771773327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -998.6321160125252, + 272.47818367468733, + 3.1989477771773327 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1002.9734149169922, + 277.3824105834961, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-12-36_896172326/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-12-36_896172326/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7dbfebf9dd60d5e4d7a8ac0f469cad77ef06c2f0 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-12-36_896172326/pose.jsonl @@ -0,0 +1,547 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -311.7464721266549, + -23.580790502168767, + -3.2997460169797384 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -311.7464721266549, + -26.580790502168767, + -3.2997460169797384 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -311.7464721266549, + -29.580790502168767, + -3.2997460169797384 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -311.7464721266549, + -32.58079050216877, + -3.2997460169797384 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -311.7464721266549, + -35.58079050216877, + -3.2997460169797384 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -311.7464721266549, + -38.58079050216877, + -3.2997460169797384 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -311.7464721266549, + -41.58079050216877, + -3.2997460169797384 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -311.7464721266549, + -44.58079050216877, + -3.2997460169797384 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -311.7464721266549, + -47.58079050216877, + -3.2997460169797384 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -311.7464721266549, + -50.58079050216877, + -3.2997460169797384 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -311.7464721266549, + -53.58079050216877, + -3.2997460169797384 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -311.7464721266549, + -56.58079050216877, + -3.2997460169797384 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -311.7464721266549, + -59.58079050216877, + -3.2997460169797384 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -311.7464721266549, + -62.58079050216877, + -3.2997460169797384 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -311.7464721266549, + -65.58079050216877, + -3.2997460169797384 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -311.7464721266549, + -68.58079050216877, + -3.2997460169797384 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -311.7464721266549, + -71.58079050216877, + -3.2997460169797384 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -311.7464721266549, + -74.58079050216877, + -3.2997460169797384 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -311.7464721266549, + -77.58079050216877, + -3.2997460169797384 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -311.7464721266549, + -80.58079050216877, + -3.2997460169797384 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -311.7464721266549, + -83.58079050216877, + -3.2997460169797384 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -311.7464721266549, + -86.58079050216877, + -3.2997460169797384 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -311.7464721266549, + -89.58079050216877, + -3.2997460169797384 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -311.7464721266549, + -92.58079050216877, + -3.2997460169797384 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -311.7464721266549, + -95.58079050216877, + -3.2997460169797384 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -311.7464721266549, + -98.58079050216877, + -3.2997460169797384 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -311.7464721266549, + -101.58079050216877, + -3.2997460169797384 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -311.7464721266549, + -104.58079050216877, + -3.2997460169797384 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -311.7464721266549, + -107.58079050216877, + -3.2997460169797384 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -311.7464721266549, + -110.58079050216877, + -3.2997460169797384 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -311.7464721266549, + -113.58079050216877, + -3.2997460169797384 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -311.7464721266549, + -116.58079050216877, + -3.2997460169797384 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -311.7464721266549, + -119.58079050216877, + -3.2997460169797384 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -311.7464721266549, + -122.58079050216877, + -3.2997460169797384 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -311.7464721266549, + -122.58079050216877, + -3.2997460169797384 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -311.7464721266549, + -122.58079050216877, + -3.2997460169797384 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -314.3445483380082, + -124.08079050216877, + -3.2997460169797384 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -316.94262454936154, + -125.58079050216877, + -3.2997460169797384 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -319.54070076071486, + -127.08079050216877, + -3.2997460169797384 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -322.1387769720682, + -128.58079050216875, + -3.2997460169797384 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914984 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -324.7368531834215, + -130.08079050216875, + -3.2997460169797384 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914984 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -323.98753799438475, + -133.34803604125977, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-15-24_191471704/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-15-24_191471704/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c225b63e611d31bfddc32581fb7812ed2ad4d385 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-15-24_191471704/pose.jsonl @@ -0,0 +1,495 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -431.63406905135054, + -440.7908611405531, + 2.0863674895718978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -429.0359928399972, + -439.2908611405531, + 2.0863674895718978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -426.4379166286439, + -437.7908611405531, + 2.0863674895718978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -423.8398404172906, + -436.2908611405531, + 2.0863674895718978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -421.2417642059373, + -434.7908611405531, + 2.0863674895718978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -418.64368799458396, + -433.2908611405531, + 2.0863674895718978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -416.04561178323064, + -431.7908611405531, + 2.0863674895718978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -413.4475355718773, + -430.2908611405531, + 2.0863674895718978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -410.849459360524, + -428.7908611405531, + 2.0863674895718978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -408.2513831491707, + -427.2908611405531, + 2.0863674895718978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -405.6533069378174, + -425.7908611405531, + 2.0863674895718978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -403.05523072646406, + -424.2908611405531, + 2.0863674895718978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -400.45715451511074, + -422.7908611405531, + 2.0863674895718978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -397.8590783037574, + -421.2908611405531, + 2.0863674895718978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -395.2610020924041, + -419.7908611405531, + 2.0863674895718978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -392.6629258810508, + -418.2908611405531, + 2.0863674895718978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -390.0648496696975, + -416.7908611405531, + 2.0863674895718978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -387.46677345834416, + -415.2908611405531, + 2.0863674895718978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -384.86869724699085, + -413.7908611405531, + 2.0863674895718978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -382.27062103563753, + -412.2908611405531, + 2.0863674895718978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -379.6725448242842, + -410.7908611405531, + 2.0863674895718978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -377.0744686129309, + -409.2908611405531, + 2.0863674895718978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -374.4763924015776, + -407.7908611405531, + 2.0863674895718978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -371.87831619022427, + -406.2908611405531, + 2.0863674895718978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -369.28023997887095, + -404.7908611405531, + 2.0863674895718978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -366.68216376751764, + -403.2908611405531, + 2.0863674895718978 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -366.68216376751764, + -403.2908611405531, + 2.0863674895718978 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -365.18216376751764, + -400.6927849291998, + 2.0863674895718978 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -363.68216376751764, + -398.09470871784646, + 2.0863674895718978 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -362.18216376751764, + -395.49663250649314, + 2.0863674895718978 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -360.68216376751764, + -392.8985562951398, + 2.0863674895718978 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -359.18216376751764, + -390.3004800837865, + 2.0863674895718978 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -357.68216376751764, + -387.7024038724332, + 2.0863674895718978 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -356.18216376751764, + -385.1043276610799, + 2.0863674895718978 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -354.68216376751764, + -382.50625144972656, + 2.0863674895718978 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -353.18216376751764, + -379.90817523837325, + 2.0863674895718978 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -351.68216376751764, + -377.31009902701993, + 2.0863674895718978 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -348.85303680419923, + -377.0924723815918, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-18-27_582513990/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-18-27_582513990/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a92dc02bf156f3387037b6df27cc9d86dce8757a --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-18-27_582513990/pose.jsonl @@ -0,0 +1,560 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -776.9289547453303, + 142.80602512276266, + -3.498906645967766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -775.4289547453303, + 145.40410133411598, + -3.498906645967766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -773.9289547453303, + 148.0021775454693, + -3.498906645967766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -772.4289547453303, + 150.6002537568226, + -3.498906645967766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -770.9289547453303, + 153.19832996817593, + -3.498906645967766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -769.4289547453303, + 155.79640617952924, + -3.498906645967766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -767.9289547453303, + 158.39448239088256, + -3.498906645967766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -766.4289547453303, + 160.99255860223587, + -3.498906645967766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -764.9289547453303, + 163.5906348135892, + -3.498906645967766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -763.4289547453303, + 166.1887110249425, + -3.498906645967766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -761.9289547453303, + 168.78678723629582, + -3.498906645967766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -760.4289547453303, + 171.38486344764914, + -3.498906645967766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -758.9289547453303, + 173.98293965900245, + -3.498906645967766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -757.4289547453303, + 176.58101587035577, + -3.498906645967766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -755.9289547453303, + 179.1790920817091, + -3.498906645967766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -754.4289547453303, + 181.7771682930624, + -3.498906645967766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -752.9289547453303, + 184.37524450441572, + -3.498906645967766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -751.4289547453303, + 186.97332071576903, + -3.498906645967766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -749.9289547453303, + 189.57139692712235, + -3.498906645967766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -748.4289547453303, + 192.16947313847567, + -3.498906645967766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -746.9289547453303, + 194.76754934982898, + -3.498906645967766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -745.4289547453303, + 197.3656255611823, + -3.498906645967766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -743.9289547453303, + 199.96370177253561, + -3.498906645967766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -742.4289547453303, + 202.56177798388893, + -3.498906645967766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -740.9289547453303, + 205.15985419524225, + -3.498906645967766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -739.4289547453303, + 207.75793040659556, + -3.498906645967766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -737.9289547453303, + 210.35600661794888, + -3.498906645967766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -736.4289547453303, + 212.9540828293022, + -3.498906645967766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -734.9289547453303, + 215.5521590406555, + -3.498906645967766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -733.4289547453303, + 218.15023525200883, + -3.498906645967766 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -733.4289547453303, + 218.15023525200883, + -3.498906645967766 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -730.830878533977, + 219.65023525200883, + -3.498906645967766 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -728.2328023226237, + 221.15023525200883, + -3.498906645967766 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -725.6347261112703, + 222.65023525200883, + -3.498906645967766 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -723.0366498999169, + 224.15023525200883, + -3.498906645967766 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -720.4385736885636, + 225.65023525200883, + -3.498906645967766 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -717.8404974772102, + 227.15023525200883, + -3.498906645967766 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -715.2424212658568, + 228.65023525200883, + -3.498906645967766 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -712.6443450545034, + 230.15023525200883, + -3.498906645967766 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -712.6443450545034, + 230.15023525200883, + -3.498906645967766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -711.1443450545034, + 232.74831146336214, + -3.498906645967766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -709.6443450545034, + 235.34638767471546, + -3.498906645967766 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -707.2679043579102, + 238.37122535705566, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-19-19_220282619/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-19-19_220282619/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0b9a46a7b608f07bbc12a6e042df2a7fbb36c296 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-19-19_220282619/pose.jsonl @@ -0,0 +1,417 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -679.1360808518901, + 163.50142892826224, + 3.487613145551185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -677.6360808518901, + 160.90335271690893, + 3.487613145551185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -676.1360808518901, + 158.3052765055556, + 3.487613145551185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -674.6360808518901, + 155.7072002942023, + 3.487613145551185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -673.1360808518901, + 153.10912408284898, + 3.487613145551185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -671.6360808518901, + 150.51104787149566, + 3.487613145551185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -670.1360808518901, + 147.91297166014235, + 3.487613145551185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -668.6360808518901, + 145.31489544878903, + 3.487613145551185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -667.1360808518901, + 142.71681923743571, + 3.487613145551185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -665.6360808518901, + 140.1187430260824, + 3.487613145551185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -664.1360808518901, + 137.52066681472908, + 3.487613145551185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -662.6360808518901, + 134.92259060337577, + 3.487613145551185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -661.1360808518901, + 132.32451439202245, + 3.487613145551185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -659.6360808518901, + 129.72643818066913, + 3.487613145551185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -658.1360808518901, + 127.12836196931582, + 3.487613145551185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -656.6360808518901, + 124.5302857579625, + 3.487613145551185 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -656.6360808518901, + 124.5302857579625, + 3.487613145551185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -656.6360808518901, + 121.5302857579625, + 3.487613145551185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -656.6360808518901, + 118.5302857579625, + 3.487613145551185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -656.6360808518901, + 115.5302857579625, + 3.487613145551185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -656.6360808518901, + 112.5302857579625, + 3.487613145551185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -656.6360808518901, + 109.5302857579625, + 3.487613145551185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -656.6360808518901, + 106.5302857579625, + 3.487613145551185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -656.6360808518901, + 103.5302857579625, + 3.487613145551185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -656.6360808518901, + 100.5302857579625, + 3.487613145551185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -656.6360808518901, + 97.5302857579625, + 3.487613145551185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -656.6360808518901, + 94.5302857579625, + 3.487613145551185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -656.6360808518901, + 91.5302857579625, + 3.487613145551185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -656.6360808518901, + 88.5302857579625, + 3.487613145551185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -656.6360808518901, + 85.5302857579625, + 3.487613145551185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -656.6360808518901, + 82.5302857579625, + 3.487613145551185 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -655.7620668029786, + 80.36062210083007, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-2-1_1122249809/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-2-1_1122249809/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b325ffc4737f71c27896d633b755a73b72c1d44b --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-2-1_1122249809/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -596.386600357705, + -187.13439846541576, + -0.41879575321353535 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -598.9846765690584, + -185.63439846541576, + -0.41879575321353535 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -601.5827527804117, + -184.13439846541576, + -0.41879575321353535 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -604.1808289917651, + -182.63439846541576, + -0.41879575321353535 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -606.7789052031185, + -181.13439846541576, + -0.41879575321353535 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -609.3769814144719, + -179.63439846541576, + -0.41879575321353535 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -611.9750576258252, + -178.13439846541576, + -0.41879575321353535 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -614.5731338371786, + -176.63439846541576, + -0.41879575321353535 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -617.171210048532, + -175.13439846541576, + -0.41879575321353535 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -619.7692862598853, + -173.63439846541576, + -0.41879575321353535 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -622.3673624712387, + -172.13439846541576, + -0.41879575321353535 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -624.9654386825921, + -170.63439846541576, + -0.41879575321353535 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -627.5635148939455, + -169.13439846541576, + -0.41879575321353535 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -630.1615911052988, + -167.63439846541576, + -0.41879575321353535 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -632.7596673166522, + -166.13439846541576, + -0.41879575321353535 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -635.3577435280056, + -164.63439846541576, + -0.41879575321353535 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -637.955819739359, + -163.13439846541576, + -0.41879575321353535 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -640.5538959507123, + -161.63439846541576, + -0.41879575321353535 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -640.5538959507123, + -161.63439846541576, + -0.41879575321353535 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -643.5538959507123, + -161.63439846541576, + -0.41879575321353535 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -646.5538959507123, + -161.63439846541576, + -0.41879575321353535 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -649.5538959507123, + -161.63439846541576, + -0.41879575321353535 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -652.5538959507123, + -161.63439846541576, + -0.41879575321353535 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -655.5538959507123, + -161.63439846541576, + -0.41879575321353535 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -658.5538959507123, + -161.63439846541576, + -0.41879575321353535 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -661.3270858764648, + -162.2898444366455, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-27-50_1600243658/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-27-50_1600243658/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cac3e343337bd999659b3b5c1a6a089bf77fb7e2 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-27-50_1600243658/pose.jsonl @@ -0,0 +1,404 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -689.4768567949518, + 107.08720591389496, + -3.734242156913508 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -687.9768567949518, + 104.48912970254165, + -3.734242156913508 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -686.4768567949518, + 101.89105349118833, + -3.734242156913508 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -684.9768567949518, + 99.29297727983501, + -3.734242156913508 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -683.4768567949518, + 96.6949010684817, + -3.734242156913508 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -681.9768567949518, + 94.09682485712838, + -3.734242156913508 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -680.4768567949518, + 91.49874864577507, + -3.734242156913508 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -678.9768567949518, + 88.90067243442175, + -3.734242156913508 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -677.4768567949518, + 86.30259622306843, + -3.734242156913508 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -675.9768567949518, + 83.70452001171512, + -3.734242156913508 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -674.4768567949518, + 81.1064438003618, + -3.734242156913508 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -672.9768567949518, + 78.50836758900849, + -3.734242156913508 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -671.4768567949518, + 75.91029137765517, + -3.734242156913508 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -669.9768567949518, + 73.31221516630185, + -3.734242156913508 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -668.4768567949518, + 70.71413895494854, + -3.734242156913508 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -666.9768567949518, + 68.11606274359522, + -3.734242156913508 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -666.9768567949518, + 68.11606274359522, + -3.734242156913508 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -664.3787805835984, + 66.61606274359522, + -3.734242156913508 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -661.780704372245, + 65.11606274359522, + -3.734242156913508 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -659.1826281608917, + 63.61606274359522, + -3.734242156913508 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -656.5845519495383, + 62.11606274359522, + -3.734242156913508 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -653.9864757381849, + 60.61606274359522, + -3.734242156913508 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -651.3883995268316, + 59.11606274359522, + -3.734242156913508 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -648.7903233154782, + 57.61606274359522, + -3.734242156913508 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -646.1922471041248, + 56.11606274359522, + -3.734242156913508 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -643.5941708927714, + 54.61606274359522, + -3.734242156913508 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -640.9960946814181, + 53.11606274359522, + -3.734242156913508 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -638.3980184700647, + 51.61606274359522, + -3.734242156913508 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -635.7999422587113, + 50.11606274359522, + -3.734242156913508 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -633.201866047358, + 48.61606274359522, + -3.734242156913508 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -629.9300636291504, + 48.19314208984375, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-29-47_179486052/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-29-47_179486052/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5492012ada9d8bd87c2446d13f7ad36a6d4aaa8d --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-29-47_179486052/pose.jsonl @@ -0,0 +1,469 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -694.0447251917942, + 327.16739192068223, + -0.1608776373046581 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -694.0447251917942, + 324.16739192068223, + -0.1608776373046581 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -694.0447251917942, + 321.16739192068223, + -0.1608776373046581 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -694.0447251917942, + 318.16739192068223, + -0.1608776373046581 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -694.0447251917942, + 315.16739192068223, + -0.1608776373046581 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -694.0447251917942, + 312.16739192068223, + -0.1608776373046581 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -694.0447251917942, + 309.16739192068223, + -0.1608776373046581 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -694.0447251917942, + 306.16739192068223, + -0.1608776373046581 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -694.0447251917942, + 303.16739192068223, + -0.1608776373046581 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -694.0447251917942, + 300.16739192068223, + -0.1608776373046581 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -694.0447251917942, + 297.16739192068223, + -0.1608776373046581 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -694.0447251917942, + 294.16739192068223, + -0.1608776373046581 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -694.0447251917942, + 291.16739192068223, + -0.1608776373046581 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -694.0447251917942, + 288.16739192068223, + -0.1608776373046581 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -694.0447251917942, + 285.16739192068223, + -0.1608776373046581 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -694.0447251917942, + 282.16739192068223, + -0.1608776373046581 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -694.0447251917942, + 279.16739192068223, + -0.1608776373046581 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -694.0447251917942, + 276.16739192068223, + -0.1608776373046581 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -694.0447251917942, + 273.16739192068223, + -0.1608776373046581 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -694.0447251917942, + 270.16739192068223, + -0.1608776373046581 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -694.0447251917942, + 267.16739192068223, + -0.1608776373046581 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -694.0447251917942, + 264.16739192068223, + -0.1608776373046581 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -694.0447251917942, + 261.16739192068223, + -0.1608776373046581 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -694.0447251917942, + 258.16739192068223, + -0.1608776373046581 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -694.0447251917942, + 255.16739192068223, + -0.1608776373046581 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -694.0447251917942, + 252.16739192068223, + -0.1608776373046581 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -694.0447251917942, + 252.16739192068223, + -0.1608776373046581 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -694.0447251917942, + 252.16739192068223, + -0.1608776373046581 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -696.6428014031476, + 250.66739192068223, + -0.1608776373046581 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -699.240877614501, + 249.16739192068223, + -0.1608776373046581 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -701.8389538258543, + 247.66739192068223, + -0.1608776373046581 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -701.8389538258543, + 247.66739192068223, + -0.1608776373046581 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -703.3389538258543, + 245.06931570932892, + -0.1608776373046581 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -704.8389538258543, + 242.4712394979756, + -0.1608776373046581 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -706.3389538258543, + 239.8731632866223, + -0.1608776373046581 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -707.2679043579102, + 238.37122535705566, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-31-27_140830430/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-31-27_140830430/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bd3782000f70bfb1bc75c6fc55bbb4e9ef7d898e --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-31-27_140830430/pose.jsonl @@ -0,0 +1,521 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -196.22610012852851, + -110.23207717232934, + 1.5423011433459788 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -197.72610012852851, + -107.63400096097602, + 1.5423011433459788 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -199.22610012852851, + -105.03592474962271, + 1.5423011433459788 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -200.72610012852851, + -102.43784853826939, + 1.5423011433459788 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -202.22610012852851, + -99.83977232691608, + 1.5423011433459788 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -203.72610012852851, + -97.24169611556276, + 1.5423011433459788 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -205.22610012852851, + -94.64361990420944, + 1.5423011433459788 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -206.72610012852851, + -92.04554369285613, + 1.5423011433459788 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -208.22610012852851, + -89.44746748150281, + 1.5423011433459788 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -209.72610012852851, + -86.8493912701495, + 1.5423011433459788 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -211.22610012852851, + -84.25131505879618, + 1.5423011433459788 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -212.72610012852851, + -81.65323884744286, + 1.5423011433459788 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -214.22610012852851, + -79.05516263608955, + 1.5423011433459788 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -215.72610012852851, + -76.45708642473623, + 1.5423011433459788 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -217.22610012852851, + -73.85901021338292, + 1.5423011433459788 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -218.72610012852851, + -71.2609340020296, + 1.5423011433459788 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -220.22610012852851, + -68.66285779067628, + 1.5423011433459788 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -221.72610012852851, + -66.06478157932297, + 1.5423011433459788 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -223.22610012852851, + -63.46670536796965, + 1.5423011433459788 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -224.72610012852851, + -60.868629156616336, + 1.5423011433459788 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -226.22610012852851, + -58.27055294526302, + 1.5423011433459788 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -227.72610012852851, + -55.672476733909704, + 1.5423011433459788 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -229.22610012852851, + -53.07440052255639, + 1.5423011433459788 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -230.72610012852851, + -50.47632431120307, + 1.5423011433459788 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -232.22610012852851, + -47.878248099849756, + 1.5423011433459788 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -233.72610012852851, + -45.28017188849644, + 1.5423011433459788 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -235.22610012852851, + -42.682095677143124, + 1.5423011433459788 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -236.72610012852851, + -40.08401946578981, + 1.5423011433459788 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -238.22610012852851, + -37.48594325443649, + 1.5423011433459788 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -239.72610012852851, + -34.887867043083176, + 1.5423011433459788 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -241.22610012852851, + -32.28979083172986, + 1.5423011433459788 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -241.22610012852851, + -32.28979083172986, + 1.5423011433459788 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -241.22610012852851, + -29.28979083172986, + 1.5423011433459788 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -241.22610012852851, + -26.28979083172986, + 1.5423011433459788 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -241.22610012852851, + -23.28979083172986, + 1.5423011433459788 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -241.22610012852851, + -20.28979083172986, + 1.5423011433459788 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -241.22610012852851, + -17.28979083172986, + 1.5423011433459788 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -241.22610012852851, + -14.28979083172986, + 1.5423011433459788 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -241.22610012852851, + -11.28979083172986, + 1.5423011433459788 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -242.29689208984374, + -10.230338129997254, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-37-32_687506457/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-37-32_687506457/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..78421c47efac18da334cd51d955ec02ed48763a7 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-37-32_687506457/pose.jsonl @@ -0,0 +1,287 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -953.1131580110698, + 244.71927964412106, + -1.8631989555944872 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -955.7112342224232, + 246.21927964412106, + -1.8631989555944872 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -958.3093104337765, + 247.71927964412106, + -1.8631989555944872 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -960.9073866451299, + 249.21927964412106, + -1.8631989555944872 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -963.5054628564833, + 250.71927964412106, + -1.8631989555944872 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -966.1035390678367, + 252.21927964412106, + -1.8631989555944872 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -968.70161527919, + 253.71927964412106, + -1.8631989555944872 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -971.2996914905434, + 255.21927964412106, + -1.8631989555944872 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -973.8977677018968, + 256.71927964412106, + -1.8631989555944872 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -976.4958439132502, + 258.21927964412106, + -1.8631989555944872 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -979.0939201246035, + 259.71927964412106, + -1.8631989555944872 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -981.6919963359569, + 261.21927964412106, + -1.8631989555944872 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -984.2900725473103, + 262.71927964412106, + -1.8631989555944872 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -986.8881487586636, + 264.21927964412106, + -1.8631989555944872 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -989.486224970017, + 265.71927964412106, + -1.8631989555944872 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -992.0843011813704, + 267.21927964412106, + -1.8631989555944872 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -994.6823773927238, + 268.71927964412106, + -1.8631989555944872 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -997.2804536040771, + 270.21927964412106, + -1.8631989555944872 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -997.2804536040771, + 270.21927964412106, + -1.8631989555944872 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -998.7804536040771, + 272.8173558554744, + -1.8631989555944872 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1000.2804536040771, + 275.4154320668277, + -1.8631989555944872 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1041.4117810058594, + 301.62743286132815, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-38-10_753999960/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-38-10_753999960/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2904b1d4d0d9e2063945d381a680e1bfdd997ba7 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-38-10_753999960/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 483.51120975485105, + 618.5468284429428, + -4.860355207859898 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 482.01120975485105, + 615.9487522315894, + -4.860355207859898 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 480.51120975485105, + 613.350676020236, + -4.860355207859898 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 479.01120975485105, + 610.7525998088827, + -4.860355207859898 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 477.51120975485105, + 608.1545235975293, + -4.860355207859898 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 476.01120975485105, + 605.5564473861759, + -4.860355207859898 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 474.51120975485105, + 602.9583711748226, + -4.860355207859898 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 473.01120975485105, + 600.3602949634692, + -4.860355207859898 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 471.51120975485105, + 597.7622187521158, + -4.860355207859898 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 470.01120975485105, + 595.1641425407624, + -4.860355207859898 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 468.51120975485105, + 592.5660663294091, + -4.860355207859898 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 467.01120975485105, + 589.9679901180557, + -4.860355207859898 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 465.51120975485105, + 587.3699139067023, + -4.860355207859898 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 464.01120975485105, + 584.771837695349, + -4.860355207859898 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 462.51120975485105, + 582.1737614839956, + -4.860355207859898 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 462.51120975485105, + 582.1737614839956, + -4.860355207859898 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 459.91313354349774, + 580.6737614839956, + -4.860355207859898 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 457.3150573321444, + 579.1737614839956, + -4.860355207859898 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 454.7169811207911, + 577.6737614839956, + -4.860355207859898 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 452.1189049094378, + 576.1737614839956, + -4.860355207859898 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 449.5208286980845, + 574.6737614839956, + -4.860355207859898 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 446.92275248673116, + 573.1737614839956, + -4.860355207859898 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 444.32467627537784, + 571.6737614839956, + -4.860355207859898 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 441.7266000640245, + 570.1737614839956, + -4.860355207859898 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 439.1285238526712, + 568.6737614839956, + -4.860355207859898 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 436.5304476413179, + 567.1737614839956, + -4.860355207859898 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 433.9323714299646, + 565.6737614839956, + -4.860355207859898 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 434.03729019165036, + 563.8867979431152, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-39-45_1073646711/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-39-45_1073646711/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..707427e150692dd51f06c8e441d6066e675f328e --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-39-45_1073646711/pose.jsonl @@ -0,0 +1,482 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -345.5514167988596, + -270.62824437045947, + 4.312248588333379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -347.0514167988596, + -268.03016815910615, + 4.312248588333379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -348.5514167988596, + -265.43209194775284, + 4.312248588333379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -350.0514167988596, + -262.8340157363995, + 4.312248588333379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -351.5514167988596, + -260.2359395250462, + 4.312248588333379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -353.0514167988596, + -257.6378633136929, + 4.312248588333379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -354.5514167988596, + -255.03978710233957, + 4.312248588333379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -356.0514167988596, + -252.44171089098626, + 4.312248588333379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -357.5514167988596, + -249.84363467963294, + 4.312248588333379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -359.0514167988596, + -247.24555846827963, + 4.312248588333379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -360.5514167988596, + -244.6474822569263, + 4.312248588333379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -362.0514167988596, + -242.049406045573, + 4.312248588333379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -363.5514167988596, + -239.45132983421968, + 4.312248588333379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -365.0514167988596, + -236.85325362286636, + 4.312248588333379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -366.5514167988596, + -234.25517741151305, + 4.312248588333379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -368.0514167988596, + -231.65710120015973, + 4.312248588333379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -369.5514167988596, + -229.0590249888064, + 4.312248588333379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -371.0514167988596, + -226.4609487774531, + 4.312248588333379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -372.5514167988596, + -223.86287256609978, + 4.312248588333379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -374.0514167988596, + -221.26479635474647, + 4.312248588333379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -375.5514167988596, + -218.66672014339315, + 4.312248588333379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -377.0514167988596, + -216.06864393203983, + 4.312248588333379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -378.5514167988596, + -213.47056772068652, + 4.312248588333379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -380.0514167988596, + -210.8724915093332, + 4.312248588333379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -381.5514167988596, + -208.27441529797989, + 4.312248588333379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -383.0514167988596, + -205.67633908662657, + 4.312248588333379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -384.5514167988596, + -203.07826287527325, + 4.312248588333379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -386.0514167988596, + -200.48018666391994, + 4.312248588333379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -387.5514167988596, + -197.88211045256662, + 4.312248588333379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -389.0514167988596, + -195.2840342412133, + 4.312248588333379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -390.5514167988596, + -192.68595802986, + 4.312248588333379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -392.0514167988596, + -190.08788181850667, + 4.312248588333379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -393.5514167988596, + -187.48980560715336, + 4.312248588333379 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -393.5514167988596, + -187.48980560715336, + 4.312248588333379 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -393.5514167988596, + -184.48980560715336, + 4.312248588333379 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -393.5514167988596, + -181.48980560715336, + 4.312248588333379 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -395.0994828796387, + -178.58960372924804, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-4-56_996879552/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-4-56_996879552/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8d6e2f28f5a55e480a509e5b906cf306ecb22034 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-4-56_996879552/pose.jsonl @@ -0,0 +1,573 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -930.4678109065131, + 41.07074234613441, + 1.2951643883700958 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -927.4678109065131, + 41.07074234613441, + 1.2951643883700958 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -924.4678109065131, + 41.07074234613441, + 1.2951643883700958 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -921.4678109065131, + 41.07074234613441, + 1.2951643883700958 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -918.4678109065131, + 41.07074234613441, + 1.2951643883700958 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -915.4678109065131, + 41.07074234613441, + 1.2951643883700958 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -912.4678109065131, + 41.07074234613441, + 1.2951643883700958 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -909.4678109065131, + 41.07074234613441, + 1.2951643883700958 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -906.4678109065131, + 41.07074234613441, + 1.2951643883700958 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -903.4678109065131, + 41.07074234613441, + 1.2951643883700958 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -900.4678109065131, + 41.07074234613441, + 1.2951643883700958 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -897.4678109065131, + 41.07074234613441, + 1.2951643883700958 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -894.4678109065131, + 41.07074234613441, + 1.2951643883700958 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -891.4678109065131, + 41.07074234613441, + 1.2951643883700958 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -888.4678109065131, + 41.07074234613441, + 1.2951643883700958 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -885.4678109065131, + 41.07074234613441, + 1.2951643883700958 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -882.4678109065131, + 41.07074234613441, + 1.2951643883700958 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -879.4678109065131, + 41.07074234613441, + 1.2951643883700958 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -876.4678109065131, + 41.07074234613441, + 1.2951643883700958 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -873.4678109065131, + 41.07074234613441, + 1.2951643883700958 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -870.4678109065131, + 41.07074234613441, + 1.2951643883700958 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -867.4678109065131, + 41.07074234613441, + 1.2951643883700958 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -864.4678109065131, + 41.07074234613441, + 1.2951643883700958 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -861.4678109065131, + 41.07074234613441, + 1.2951643883700958 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -861.4678109065131, + 41.07074234613441, + 1.2951643883700958 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -861.4678109065131, + 41.07074234613441, + 1.2951643883700958 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -859.9678109065131, + 38.47266613478109, + 1.2951643883700958 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -858.4678109065131, + 35.87458992342778, + 1.2951643883700958 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -858.4678109065131, + 35.87458992342778, + 1.2951643883700958 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -855.8697346951599, + 34.37458992342778, + 1.2951643883700958 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -853.2716584838065, + 32.87458992342778, + 1.2951643883700958 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -850.6735822724531, + 31.374589923427777, + 1.2951643883700958 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -848.0755060610998, + 29.874589923427777, + 1.2951643883700958 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -845.4774298497464, + 28.374589923427777, + 1.2951643883700958 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -842.879353638393, + 26.874589923427777, + 1.2951643883700958 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -840.2812774270396, + 25.374589923427777, + 1.2951643883700958 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -837.6832012156863, + 23.874589923427777, + 1.2951643883700958 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -835.0851250043329, + 22.374589923427777, + 1.2951643883700958 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -832.4870487929795, + 20.874589923427777, + 1.2951643883700958 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -829.8889725816261, + 19.374589923427777, + 1.2951643883700958 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -827.2908963702728, + 17.874589923427777, + 1.2951643883700958 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -824.6928201589194, + 16.374589923427777, + 1.2951643883700958 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -822.094743947566, + 14.874589923427777, + 1.2951643883700958 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -821.0513497924804, + 12.496731524467467, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-40-56_1661084821/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-40-56_1661084821/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5623904b993434a67dd682339666860632fc2654 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-40-56_1661084821/pose.jsonl @@ -0,0 +1,92 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 489.93395664291603, + 183.08962141502204, + 1.9455641903777687 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 492.93395664291603, + 183.08962141502204, + 1.9455641903777687 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 492.93395664291603, + 183.08962141502204, + 1.9455641903777687 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 495.53203285426935, + 184.58962141502204, + 1.9455641903777687 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 495.53203285426935, + 184.58962141502204, + 1.9455641903777687 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 497.03203285426935, + 187.18769762637535, + 1.9455641903777687 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965976 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 583.5565863037109, + 244.7667236328125, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-41-3_1738394660/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-41-3_1738394660/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c622c04e98c82e20d3a6ef7cf586318829e342f1 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-41-3_1738394660/pose.jsonl @@ -0,0 +1,560 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -804.7468171308941, + 144.8238270136635, + -2.7951815590203717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -802.1487409195408, + 146.3238270136635, + -2.7951815590203717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -799.5506647081875, + 147.8238270136635, + -2.7951815590203717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -796.9525884968341, + 149.3238270136635, + -2.7951815590203717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -794.3545122854807, + 150.8238270136635, + -2.7951815590203717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -791.7564360741274, + 152.3238270136635, + -2.7951815590203717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -789.158359862774, + 153.8238270136635, + -2.7951815590203717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -786.5602836514206, + 155.3238270136635, + -2.7951815590203717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -783.9622074400672, + 156.8238270136635, + -2.7951815590203717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -781.3641312287139, + 158.3238270136635, + -2.7951815590203717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -778.7660550173605, + 159.8238270136635, + -2.7951815590203717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -776.1679788060071, + 161.3238270136635, + -2.7951815590203717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -773.5699025946537, + 162.8238270136635, + -2.7951815590203717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -770.9718263833004, + 164.3238270136635, + -2.7951815590203717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -768.373750171947, + 165.8238270136635, + -2.7951815590203717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -765.7756739605936, + 167.3238270136635, + -2.7951815590203717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -763.1775977492402, + 168.8238270136635, + -2.7951815590203717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -760.5795215378869, + 170.3238270136635, + -2.7951815590203717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -757.9814453265335, + 171.8238270136635, + -2.7951815590203717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -755.3833691151801, + 173.3238270136635, + -2.7951815590203717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -752.7852929038268, + 174.8238270136635, + -2.7951815590203717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -750.1872166924734, + 176.3238270136635, + -2.7951815590203717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -747.58914048112, + 177.8238270136635, + -2.7951815590203717 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -747.58914048112, + 177.8238270136635, + -2.7951815590203717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -746.08914048112, + 180.42190322501682, + -2.7951815590203717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -744.58914048112, + 183.01997943637014, + -2.7951815590203717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -743.08914048112, + 185.61805564772345, + -2.7951815590203717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -741.58914048112, + 188.21613185907677, + -2.7951815590203717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -740.08914048112, + 190.81420807043008, + -2.7951815590203717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -738.58914048112, + 193.4122842817834, + -2.7951815590203717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -737.08914048112, + 196.01036049313672, + -2.7951815590203717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -735.58914048112, + 198.60843670449003, + -2.7951815590203717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -734.08914048112, + 201.20651291584335, + -2.7951815590203717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -732.58914048112, + 203.80458912719666, + -2.7951815590203717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -731.08914048112, + 206.40266533854998, + -2.7951815590203717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -729.58914048112, + 209.0007415499033, + -2.7951815590203717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -728.08914048112, + 211.5988177612566, + -2.7951815590203717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -726.58914048112, + 214.19689397260993, + -2.7951815590203717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -725.08914048112, + 216.79497018396324, + -2.7951815590203717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -723.58914048112, + 219.39304639531656, + -2.7951815590203717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -722.08914048112, + 221.99112260666988, + -2.7951815590203717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -720.58914048112, + 224.5891988180232, + -2.7951815590203717 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -719.2420056152343, + 225.9435828399658, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-42-41_1542106687/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-42-41_1542106687/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..26caa4091fb3c3f2794c7e860a36378c2b99e02f --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-42-41_1542106687/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -742.9909805510764, + 118.01214369511419, + -1.2386721976919435 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -744.4909805510764, + 120.6102199064675, + -1.2386721976919435 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -745.9909805510764, + 123.20829611782082, + -1.2386721976919435 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -747.4909805510764, + 125.80637232917414, + -1.2386721976919435 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -748.9909805510764, + 128.40444854052745, + -1.2386721976919435 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -750.4909805510764, + 131.00252475188077, + -1.2386721976919435 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -751.9909805510764, + 133.6006009632341, + -1.2386721976919435 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -753.4909805510764, + 136.1986771745874, + -1.2386721976919435 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -754.9909805510764, + 138.79675338594072, + -1.2386721976919435 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -756.4909805510764, + 141.39482959729403, + -1.2386721976919435 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -757.9909805510764, + 143.99290580864735, + -1.2386721976919435 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -759.4909805510764, + 146.59098202000067, + -1.2386721976919435 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -760.9909805510764, + 149.18905823135398, + -1.2386721976919435 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -762.4909805510764, + 151.7871344427073, + -1.2386721976919435 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -763.9909805510764, + 154.38521065406061, + -1.2386721976919435 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -765.4909805510764, + 156.98328686541393, + -1.2386721976919435 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -766.9909805510764, + 159.58136307676725, + -1.2386721976919435 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -768.4909805510764, + 162.17943928812056, + -1.2386721976919435 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -769.9909805510764, + 164.77751549947388, + -1.2386721976919435 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -771.4909805510764, + 167.3755917108272, + -1.2386721976919435 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -772.9909805510764, + 169.9736679221805, + -1.2386721976919435 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -774.4909805510764, + 172.57174413353383, + -1.2386721976919435 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -775.9909805510764, + 175.16982034488714, + -1.2386721976919435 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -777.4909805510764, + 177.76789655624046, + -1.2386721976919435 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -779.8773458862305, + 179.3161050415039, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-43-57_1281957436/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-43-57_1281957436/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..20459a48a555fc5ebd9a984a2e1be22fad9c2b29 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-43-57_1281957436/pose.jsonl @@ -0,0 +1,443 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -345.1754735453135, + -104.48250759083001, + 3.2887579012498023 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -346.6754735453135, + -107.08058380218333, + 3.2887579012498023 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -348.1754735453135, + -109.67866001353664, + 3.2887579012498023 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -349.6754735453135, + -112.27673622488996, + 3.2887579012498023 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -351.1754735453135, + -114.87481243624327, + 3.2887579012498023 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -352.6754735453135, + -117.47288864759659, + 3.2887579012498023 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -354.1754735453135, + -120.0709648589499, + 3.2887579012498023 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -355.6754735453135, + -122.66904107030322, + 3.2887579012498023 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -357.1754735453135, + -125.26711728165654, + 3.2887579012498023 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -358.6754735453135, + -127.86519349300985, + 3.2887579012498023 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -360.1754735453135, + -130.46326970436317, + 3.2887579012498023 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -361.6754735453135, + -133.0613459157165, + 3.2887579012498023 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -363.1754735453135, + -135.6594221270698, + 3.2887579012498023 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -364.6754735453135, + -138.25749833842312, + 3.2887579012498023 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -366.1754735453135, + -140.85557454977643, + 3.2887579012498023 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -367.6754735453135, + -143.45365076112975, + 3.2887579012498023 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -369.1754735453135, + -146.05172697248307, + 3.2887579012498023 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -370.6754735453135, + -148.64980318383638, + 3.2887579012498023 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -372.1754735453135, + -151.2478793951897, + 3.2887579012498023 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -373.6754735453135, + -153.84595560654301, + 3.2887579012498023 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -375.1754735453135, + -156.44403181789633, + 3.2887579012498023 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -376.6754735453135, + -159.04210802924965, + 3.2887579012498023 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -378.1754735453135, + -161.64018424060296, + 3.2887579012498023 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -379.6754735453135, + -164.23826045195628, + 3.2887579012498023 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -381.1754735453135, + -166.8363366633096, + 3.2887579012498023 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -382.6754735453135, + -169.4344128746629, + 3.2887579012498023 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -384.1754735453135, + -172.03248908601623, + 3.2887579012498023 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -385.6754735453135, + -174.63056529736954, + 3.2887579012498023 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -387.1754735453135, + -177.22864150872286, + 3.2887579012498023 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -387.1754735453135, + -177.22864150872286, + 3.2887579012498023 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -387.1754735453135, + -177.22864150872286, + 3.2887579012498023 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -390.1754735453135, + -177.22864150872286, + 3.2887579012498023 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -393.1754735453135, + -177.22864150872286, + 3.2887579012498023 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -395.0994828796387, + -178.58960372924804, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-51-13_1366405247/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-51-13_1366405247/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..432f34b5b847f51a0d10110e3649c4f1ca2163a7 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-51-13_1366405247/pose.jsonl @@ -0,0 +1,430 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 297.2625684826282, + 578.6202367261387, + -4.318157621102805 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 297.2625684826282, + 581.6202367261387, + -4.318157621102805 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 297.2625684826282, + 584.6202367261387, + -4.318157621102805 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 297.2625684826282, + 587.6202367261387, + -4.318157621102805 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 297.2625684826282, + 590.6202367261387, + -4.318157621102805 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 297.2625684826282, + 593.6202367261387, + -4.318157621102805 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 297.2625684826282, + 596.6202367261387, + -4.318157621102805 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 297.2625684826282, + 599.6202367261387, + -4.318157621102805 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 297.2625684826282, + 602.6202367261387, + -4.318157621102805 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 297.2625684826282, + 605.6202367261387, + -4.318157621102805 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 297.2625684826282, + 608.6202367261387, + -4.318157621102805 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 297.2625684826282, + 611.6202367261387, + -4.318157621102805 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 297.2625684826282, + 614.6202367261387, + -4.318157621102805 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 297.2625684826282, + 617.6202367261387, + -4.318157621102805 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 297.2625684826282, + 620.6202367261387, + -4.318157621102805 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 297.2625684826282, + 623.6202367261387, + -4.318157621102805 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 297.2625684826282, + 626.6202367261387, + -4.318157621102805 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 297.2625684826282, + 629.6202367261387, + -4.318157621102805 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 297.2625684826282, + 632.6202367261387, + -4.318157621102805 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 297.2625684826282, + 635.6202367261387, + -4.318157621102805 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 297.2625684826282, + 638.6202367261387, + -4.318157621102805 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 297.2625684826282, + 641.6202367261387, + -4.318157621102805 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 297.2625684826282, + 644.6202367261387, + -4.318157621102805 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 297.2625684826282, + 647.6202367261387, + -4.318157621102805 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 297.2625684826282, + 650.6202367261387, + -4.318157621102805 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 297.2625684826282, + 653.6202367261387, + -4.318157621102805 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 297.2625684826282, + 653.6202367261387, + -4.318157621102805 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 298.7625684826282, + 656.2183129374921, + -4.318157621102805 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 300.2625684826282, + 658.8163891488455, + -4.318157621102805 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 301.7625684826282, + 661.4144653601988, + -4.318157621102805 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 303.2625684826282, + 664.0125415715522, + -4.318157621102805 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 304.7625684826282, + 666.6106177829056, + -4.318157621102805 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 307.503537902832, + 668.8986363220215, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-52-41_675161631/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-52-41_675161631/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..de0e052391bddf7d00130343684c77e93d71ecd9 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-52-41_675161631/pose.jsonl @@ -0,0 +1,560 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -767.7269398604827, + -112.05561489179581, + 0.341748864865985 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -764.7269398604827, + -112.05561489179581, + 0.341748864865985 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -761.7269398604827, + -112.05561489179581, + 0.341748864865985 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -758.7269398604827, + -112.05561489179581, + 0.341748864865985 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -755.7269398604827, + -112.05561489179581, + 0.341748864865985 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -755.7269398604827, + -112.05561489179581, + 0.341748864865985 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -753.1288636491295, + -113.55561489179581, + 0.341748864865985 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -750.5307874377761, + -115.05561489179581, + 0.341748864865985 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -747.9327112264227, + -116.55561489179581, + 0.341748864865985 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -745.3346350150694, + -118.05561489179581, + 0.341748864865985 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -742.736558803716, + -119.55561489179581, + 0.341748864865985 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -740.1384825923626, + -121.05561489179581, + 0.341748864865985 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -737.5404063810092, + -122.55561489179581, + 0.341748864865985 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -734.9423301696559, + -124.05561489179581, + 0.341748864865985 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -732.3442539583025, + -125.55561489179581, + 0.341748864865985 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -729.7461777469491, + -127.05561489179581, + 0.341748864865985 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -727.1481015355957, + -128.5556148917958, + 0.341748864865985 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -724.5500253242424, + -130.0556148917958, + 0.341748864865985 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -721.951949112889, + -131.5556148917958, + 0.341748864865985 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -719.3538729015356, + -133.0556148917958, + 0.341748864865985 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -716.7557966901823, + -134.5556148917958, + 0.341748864865985 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -714.1577204788289, + -136.0556148917958, + 0.341748864865985 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -711.5596442674755, + -137.5556148917958, + 0.341748864865985 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -708.9615680561221, + -139.0556148917958, + 0.341748864865985 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -706.3634918447688, + -140.5556148917958, + 0.341748864865985 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -703.7654156334154, + -142.0556148917958, + 0.341748864865985 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -701.167339422062, + -143.5556148917958, + 0.341748864865985 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -698.5692632107086, + -145.0556148917958, + 0.341748864865985 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -695.9711869993553, + -146.5556148917958, + 0.341748864865985 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -693.3731107880019, + -148.0556148917958, + 0.341748864865985 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -690.7750345766485, + -149.5556148917958, + 0.341748864865985 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -688.1769583652951, + -151.0556148917958, + 0.341748864865985 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -685.5788821539418, + -152.5556148917958, + 0.341748864865985 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -682.9808059425884, + -154.0556148917958, + 0.341748864865985 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -680.382729731235, + -155.5556148917958, + 0.341748864865985 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -677.7846535198817, + -157.0556148917958, + 0.341748864865985 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -675.1865773085283, + -158.5556148917958, + 0.341748864865985 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -672.5885010971749, + -160.0556148917958, + 0.341748864865985 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -672.5885010971749, + -160.0556148917958, + 0.341748864865985 + ], + "type": "go straight", + "value": 3, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -669.5885010971749, + -160.0556148917958, + 0.341748864865985 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -666.5885010971749, + -160.0556148917958, + 0.341748864865985 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -663.5885010971749, + -160.0556148917958, + 0.341748864865985 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -661.3270858764648, + -162.2898444366455, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-57-55_842198392/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-57-55_842198392/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d56748e16fdd99d528a9bc0296cb0abe3a7c844d --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-57-55_842198392/pose.jsonl @@ -0,0 +1,573 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -282.50602072326325, + -201.381007770409, + -2.021094915767676 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -285.10409693461656, + -199.881007770409, + -2.021094915767676 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -285.10409693461656, + -199.881007770409, + -2.021094915767676 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -286.60409693461656, + -197.2829315590557, + -2.021094915767676 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -288.10409693461656, + -194.68485534770238, + -2.021094915767676 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -288.10409693461656, + -194.68485534770238, + -2.021094915767676 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -290.7021731459699, + -193.18485534770238, + -2.021094915767676 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -293.3002493573232, + -191.68485534770238, + -2.021094915767676 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -295.8983255686765, + -190.18485534770238, + -2.021094915767676 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -298.4964017800298, + -188.68485534770238, + -2.021094915767676 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -301.09447799138314, + -187.18485534770238, + -2.021094915767676 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -303.69255420273646, + -185.68485534770238, + -2.021094915767676 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -306.2906304140898, + -184.18485534770238, + -2.021094915767676 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -308.8887066254431, + -182.68485534770238, + -2.021094915767676 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -311.4867828367964, + -181.18485534770238, + -2.021094915767676 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -314.0848590481497, + -179.68485534770238, + -2.021094915767676 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -316.68293525950304, + -178.18485534770238, + -2.021094915767676 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -316.68293525950304, + -178.18485534770238, + -2.021094915767676 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -319.68293525950304, + -178.18485534770238, + -2.021094915767676 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -322.68293525950304, + -178.18485534770238, + -2.021094915767676 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -325.68293525950304, + -178.18485534770238, + -2.021094915767676 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -328.68293525950304, + -178.18485534770238, + -2.021094915767676 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -331.68293525950304, + -178.18485534770238, + -2.021094915767676 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -334.68293525950304, + -178.18485534770238, + -2.021094915767676 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -337.68293525950304, + -178.18485534770238, + -2.021094915767676 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -340.68293525950304, + -178.18485534770238, + -2.021094915767676 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -343.68293525950304, + -178.18485534770238, + -2.021094915767676 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -346.68293525950304, + -178.18485534770238, + -2.021094915767676 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -349.68293525950304, + -178.18485534770238, + -2.021094915767676 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -352.68293525950304, + -178.18485534770238, + -2.021094915767676 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -355.68293525950304, + -178.18485534770238, + -2.021094915767676 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -358.68293525950304, + -178.18485534770238, + -2.021094915767676 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -361.68293525950304, + -178.18485534770238, + -2.021094915767676 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -364.68293525950304, + -178.18485534770238, + -2.021094915767676 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -367.68293525950304, + -178.18485534770238, + -2.021094915767676 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -370.68293525950304, + -178.18485534770238, + -2.021094915767676 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -373.68293525950304, + -178.18485534770238, + -2.021094915767676 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -376.68293525950304, + -178.18485534770238, + -2.021094915767676 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -379.68293525950304, + -178.18485534770238, + -2.021094915767676 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -382.68293525950304, + -178.18485534770238, + -2.021094915767676 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -385.68293525950304, + -178.18485534770238, + -2.021094915767676 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -388.68293525950304, + -178.18485534770238, + -2.021094915767676 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -391.68293525950304, + -178.18485534770238, + -2.021094915767676 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -395.0994828796387, + -178.58960372924804, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-7-43_1063765871/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-7-43_1063765871/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..188fcdd06f5d29fa0c488b4d0e4b7389e4b275e4 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-7-43_1063765871/pose.jsonl @@ -0,0 +1,482 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -615.692018069873, + 192.85802602253713, + -4.126882094113271 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -618.2900942812264, + 194.35802602253713, + -4.126882094113271 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -620.8881704925798, + 195.85802602253713, + -4.126882094113271 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -623.4862467039331, + 197.35802602253713, + -4.126882094113271 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -626.0843229152865, + 198.85802602253713, + -4.126882094113271 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -628.6823991266399, + 200.35802602253713, + -4.126882094113271 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -631.2804753379933, + 201.85802602253713, + -4.126882094113271 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -633.8785515493466, + 203.35802602253713, + -4.126882094113271 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -636.4766277607, + 204.85802602253713, + -4.126882094113271 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -639.0747039720534, + 206.35802602253713, + -4.126882094113271 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -641.6727801834068, + 207.85802602253713, + -4.126882094113271 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -644.2708563947601, + 209.35802602253713, + -4.126882094113271 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -646.8689326061135, + 210.85802602253713, + -4.126882094113271 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -649.4670088174669, + 212.35802602253713, + -4.126882094113271 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -652.0650850288202, + 213.85802602253713, + -4.126882094113271 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -654.6631612401736, + 215.35802602253713, + -4.126882094113271 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -657.261237451527, + 216.85802602253713, + -4.126882094113271 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -659.8593136628804, + 218.35802602253713, + -4.126882094113271 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -662.4573898742337, + 219.85802602253713, + -4.126882094113271 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -665.0554660855871, + 221.35802602253713, + -4.126882094113271 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -667.6535422969405, + 222.85802602253713, + -4.126882094113271 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -670.2516185082939, + 224.35802602253713, + -4.126882094113271 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -672.8496947196472, + 225.85802602253713, + -4.126882094113271 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -675.4477709310006, + 227.35802602253713, + -4.126882094113271 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -678.045847142354, + 228.85802602253713, + -4.126882094113271 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -680.6439233537074, + 230.35802602253713, + -4.126882094113271 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -683.2419995650607, + 231.85802602253713, + -4.126882094113271 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -685.8400757764141, + 233.35802602253713, + -4.126882094113271 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -688.4381519877675, + 234.85802602253713, + -4.126882094113271 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -691.0362281991208, + 236.35802602253713, + -4.126882094113271 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -693.6343044104742, + 237.85802602253713, + -4.126882094113271 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -693.6343044104742, + 237.85802602253713, + -4.126882094113271 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -696.6343044104742, + 237.85802602253713, + -4.126882094113271 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -699.6343044104742, + 237.85802602253713, + -4.126882094113271 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -702.6343044104742, + 237.85802602253713, + -4.126882094113271 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -705.6343044104742, + 237.85802602253713, + -4.126882094113271 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -707.2679043579102, + 238.37122535705566, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-9-7_665636010/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-9-7_665636010/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..47beba4b5ab090897a8a0aa3747e42d391e392eb --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-9-7_665636010/pose.jsonl @@ -0,0 +1,378 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 275.1463633463107, + 744.4941526917704, + -0.8682754898275844 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 272.5482871349574, + 745.9941526917704, + -0.8682754898275844 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 269.95021092360406, + 747.4941526917704, + -0.8682754898275844 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 267.35213471225074, + 748.9941526917704, + -0.8682754898275844 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 264.75405850089743, + 750.4941526917704, + -0.8682754898275844 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 262.1559822895441, + 751.9941526917704, + -0.8682754898275844 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 259.5579060781908, + 753.4941526917704, + -0.8682754898275844 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 256.9598298668375, + 754.9941526917704, + -0.8682754898275844 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 254.36175365548416, + 756.4941526917704, + -0.8682754898275844 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 251.76367744413085, + 757.9941526917704, + -0.8682754898275844 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 249.16560123277753, + 759.4941526917704, + -0.8682754898275844 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 246.56752502142422, + 760.9941526917704, + -0.8682754898275844 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 243.9694488100709, + 762.4941526917704, + -0.8682754898275844 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 241.37137259871758, + 763.9941526917704, + -0.8682754898275844 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 238.77329638736427, + 765.4941526917704, + -0.8682754898275844 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 236.17522017601095, + 766.9941526917704, + -0.8682754898275844 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 233.57714396465764, + 768.4941526917704, + -0.8682754898275844 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 230.97906775330432, + 769.9941526917704, + -0.8682754898275844 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 228.380991541951, + 771.4941526917704, + -0.8682754898275844 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 225.7829153305977, + 772.9941526917704, + -0.8682754898275844 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 223.18483911924437, + 774.4941526917704, + -0.8682754898275844 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 220.58676290789106, + 775.9941526917704, + -0.8682754898275844 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 220.58676290789106, + 775.9941526917704, + -0.8682754898275844 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 217.58676290789106, + 775.9941526917704, + -0.8682754898275844 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 214.58676290789106, + 775.9941526917704, + -0.8682754898275844 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 211.58676290789106, + 775.9941526917704, + -0.8682754898275844 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 208.58676290789106, + 775.9941526917704, + -0.8682754898275844 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 205.58676290789106, + 775.9941526917704, + -0.8682754898275844 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 201.67972503662108, + 776.560556640625, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-0-17_372758355/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-0-17_372758355/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e5f3d4bf8bed688476a168e10e68858a194cdf8d --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-0-17_372758355/pose.jsonl @@ -0,0 +1,534 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -840.861440465238, + 51.939118121618755, + 0.7667991029563499 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -837.861440465238, + 51.939118121618755, + 0.7667991029563499 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -834.861440465238, + 51.939118121618755, + 0.7667991029563499 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -831.861440465238, + 51.939118121618755, + 0.7667991029563499 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -828.861440465238, + 51.939118121618755, + 0.7667991029563499 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -825.861440465238, + 51.939118121618755, + 0.7667991029563499 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -822.861440465238, + 51.939118121618755, + 0.7667991029563499 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -819.861440465238, + 51.939118121618755, + 0.7667991029563499 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -816.861440465238, + 51.939118121618755, + 0.7667991029563499 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -813.861440465238, + 51.939118121618755, + 0.7667991029563499 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -810.861440465238, + 51.939118121618755, + 0.7667991029563499 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -807.861440465238, + 51.939118121618755, + 0.7667991029563499 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -804.861440465238, + 51.939118121618755, + 0.7667991029563499 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -801.861440465238, + 51.939118121618755, + 0.7667991029563499 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -798.861440465238, + 51.939118121618755, + 0.7667991029563499 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -795.861440465238, + 51.939118121618755, + 0.7667991029563499 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -792.861440465238, + 51.939118121618755, + 0.7667991029563499 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -789.861440465238, + 51.939118121618755, + 0.7667991029563499 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -786.861440465238, + 51.939118121618755, + 0.7667991029563499 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -783.861440465238, + 51.939118121618755, + 0.7667991029563499 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -780.861440465238, + 51.939118121618755, + 0.7667991029563499 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -780.861440465238, + 51.939118121618755, + 0.7667991029563499 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -778.2633642538847, + 50.439118121618755, + 0.7667991029563499 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -775.6652880425313, + 48.939118121618755, + 0.7667991029563499 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -773.0672118311779, + 47.439118121618755, + 0.7667991029563499 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -770.4691356198246, + 45.939118121618755, + 0.7667991029563499 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -767.8710594084712, + 44.439118121618755, + 0.7667991029563499 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -765.2729831971178, + 42.939118121618755, + 0.7667991029563499 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -762.6749069857644, + 41.439118121618755, + 0.7667991029563499 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -760.0768307744111, + 39.939118121618755, + 0.7667991029563499 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -757.4787545630577, + 38.439118121618755, + 0.7667991029563499 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -754.8806783517043, + 36.939118121618755, + 0.7667991029563499 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -752.282602140351, + 35.439118121618755, + 0.7667991029563499 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -749.6845259289976, + 33.939118121618755, + 0.7667991029563499 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -747.0864497176442, + 32.439118121618755, + 0.7667991029563499 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -744.4883735062908, + 30.939118121618755, + 0.7667991029563499 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -741.8902972949375, + 29.439118121618755, + 0.7667991029563499 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -739.2922210835841, + 27.939118121618755, + 0.7667991029563499 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -736.6941448722307, + 26.439118121618755, + 0.7667991029563499 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -734.0960686608773, + 24.939118121618755, + 0.7667991029563499 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -731.5441055297852, + 23.07341537475586, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-10-2_1298484488/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-10-2_1298484488/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..542254d0edd168ae524e565987005afff0e19462 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-10-2_1298484488/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -842.711115141996, + 353.0451830408812, + -2.432176147056242 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -844.211115141996, + 355.64325925223454, + -2.432176147056242 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -845.711115141996, + 358.24133546358786, + -2.432176147056242 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -847.211115141996, + 360.8394116749412, + -2.432176147056242 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -848.711115141996, + 363.4374878862945, + -2.432176147056242 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -850.211115141996, + 366.0355640976478, + -2.432176147056242 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -851.711115141996, + 368.6336403090011, + -2.432176147056242 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -853.211115141996, + 371.23171652035444, + -2.432176147056242 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -854.711115141996, + 373.82979273170776, + -2.432176147056242 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -856.211115141996, + 376.42786894306107, + -2.432176147056242 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -857.711115141996, + 379.0259451544144, + -2.432176147056242 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -859.211115141996, + 381.6240213657677, + -2.432176147056242 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -860.711115141996, + 384.222097577121, + -2.432176147056242 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -862.211115141996, + 386.82017378847434, + -2.432176147056242 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -863.711115141996, + 389.41824999982765, + -2.432176147056242 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -865.211115141996, + 392.01632621118097, + -2.432176147056242 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -866.711115141996, + 394.6144024225343, + -2.432176147056242 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -868.211115141996, + 397.2124786338876, + -2.432176147056242 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -869.711115141996, + 399.8105548452409, + -2.432176147056242 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -871.211115141996, + 402.40863105659423, + -2.432176147056242 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -872.711115141996, + 405.00670726794755, + -2.432176147056242 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -874.211115141996, + 407.60478347930086, + -2.432176147056242 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -875.711115141996, + 410.2028596906542, + -2.432176147056242 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -875.711115141996, + 410.2028596906542, + -2.432176147056242 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -878.3091913533492, + 411.7028596906542, + -2.432176147056242 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -880.9072675647026, + 413.2028596906542, + -2.432176147056242 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -883.505343776056, + 414.7028596906542, + -2.432176147056242 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -884.2225183105469, + 417.81855880737305, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-10-50_168488323/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-10-50_168488323/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cc7276bd2f45b8b38776af38e0a27a305a01942b --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-10-50_168488323/pose.jsonl @@ -0,0 +1,404 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -313.0571366695127, + 37.68305182581666, + 3.4392878573613466 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -311.5571366695127, + 35.084975614463346, + 3.4392878573613466 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -310.0571366695127, + 32.48689940311003, + 3.4392878573613466 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -308.5571366695127, + 29.888823191756714, + 3.4392878573613466 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -307.0571366695127, + 27.290746980403398, + 3.4392878573613466 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -305.5571366695127, + 24.692670769050082, + 3.4392878573613466 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -305.5571366695127, + 24.692670769050082, + 3.4392878573613466 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -302.9590604581594, + 23.192670769050082, + 3.4392878573613466 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -300.3609842468061, + 21.692670769050082, + 3.4392878573613466 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -297.76290803545277, + 20.192670769050082, + 3.4392878573613466 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -295.16483182409945, + 18.692670769050082, + 3.4392878573613466 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -292.56675561274614, + 17.192670769050082, + 3.4392878573613466 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -289.9686794013928, + 15.692670769050082, + 3.4392878573613466 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -287.3706031900395, + 14.192670769050082, + 3.4392878573613466 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -284.7725269786862, + 12.692670769050082, + 3.4392878573613466 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -282.17445076733287, + 11.192670769050082, + 3.4392878573613466 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -279.57637455597956, + 9.692670769050082, + 3.4392878573613466 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -276.97829834462624, + 8.192670769050082, + 3.4392878573613466 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -274.3802221332729, + 6.692670769050082, + 3.4392878573613466 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -271.7821459219196, + 5.192670769050082, + 3.4392878573613466 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -269.1840697105663, + 3.692670769050082, + 3.4392878573613466 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -266.585993499213, + 2.192670769050082, + 3.4392878573613466 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -263.98791728785966, + 0.6926707690500822, + 3.4392878573613466 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -261.38984107650634, + -0.8073292309499176, + 3.4392878573613466 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -258.791764865153, + -2.307329230949917, + 3.4392878573613466 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982987 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -256.1936886537997, + -3.807329230949917, + 3.4392878573613466 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -253.5956124424464, + -5.307329230949917, + 3.4392878573613466 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -250.99753623109308, + -6.807329230949917, + 3.4392878573613466 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -248.39946001973976, + -8.307329230949916, + 3.4392878573613466 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982986 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -245.80138380838645, + -9.807329230949916, + 3.4392878573613466 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982986 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -242.29689208984374, + -10.230338129997254, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-16-43_524897797/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-16-43_524897797/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e8bfa767db0b96dbf6431327d9568ddf28d6a8c7 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-16-43_524897797/pose.jsonl @@ -0,0 +1,391 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -5.811882384598235, + -49.03670171273584, + -2.897092222758863 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2.811882384598235, + -49.03670171273584, + -2.897092222758863 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2.811882384598235, + -49.03670171273584, + -2.897092222758863 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -0.2138061732449188, + -47.53670171273584, + -2.897092222758863 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2.384270038108397, + -46.03670171273584, + -2.897092222758863 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4.982346249461713, + -44.53670171273584, + -2.897092222758863 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 7.580422460815029, + -43.03670171273584, + -2.897092222758863 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 10.178498672168345, + -41.53670171273584, + -2.897092222758863 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 12.776574883521661, + -40.03670171273584, + -2.897092222758863 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 15.374651094874977, + -38.53670171273584, + -2.897092222758863 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 17.972727306228293, + -37.03670171273584, + -2.897092222758863 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 20.57080351758161, + -35.53670171273584, + -2.897092222758863 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 23.168879728934925, + -34.03670171273584, + -2.897092222758863 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 25.76695594028824, + -32.53670171273584, + -2.897092222758863 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 28.365032151641557, + -31.03670171273584, + -2.897092222758863 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 30.963108362994873, + -29.53670171273584, + -2.897092222758863 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 33.56118457434819, + -28.03670171273584, + -2.897092222758863 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 36.159260785701505, + -26.53670171273584, + -2.897092222758863 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 38.75733699705482, + -25.03670171273584, + -2.897092222758863 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 41.35541320840814, + -23.53670171273584, + -2.897092222758863 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 43.95348941976145, + -22.03670171273584, + -2.897092222758863 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 46.55156563111477, + -20.53670171273584, + -2.897092222758863 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 49.149641842468085, + -19.03670171273584, + -2.897092222758863 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 51.7477180538214, + -17.53670171273584, + -2.897092222758863 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 54.34579426517472, + -16.03670171273584, + -2.897092222758863 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 54.34579426517472, + -16.03670171273584, + -2.897092222758863 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 54.34579426517472, + -16.03670171273584, + -2.897092222758863 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 54.34579426517472, + -13.03670171273584, + -2.897092222758863 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 54.34579426517472, + -10.03670171273584, + -2.897092222758863 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 56.6919751739502, + -8.754466934204101, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-17-46_1842493053/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-17-46_1842493053/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1b0f679f434573e084f7be4307c576bdefa5d297 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-17-46_1842493053/pose.jsonl @@ -0,0 +1,456 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -337.1915773583297, + -104.4363845779347, + -2.8712188868766884 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -338.6915773583297, + -107.03446078928802, + -2.8712188868766884 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -340.1915773583297, + -109.63253700064134, + -2.8712188868766884 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -341.6915773583297, + -112.23061321199465, + -2.8712188868766884 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -343.1915773583297, + -114.82868942334797, + -2.8712188868766884 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -344.6915773583297, + -117.42676563470128, + -2.8712188868766884 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -346.1915773583297, + -120.0248418460546, + -2.8712188868766884 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -347.6915773583297, + -122.62291805740792, + -2.8712188868766884 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -349.1915773583297, + -125.22099426876123, + -2.8712188868766884 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -350.6915773583297, + -127.81907048011455, + -2.8712188868766884 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -352.1915773583297, + -130.41714669146785, + -2.8712188868766884 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393198 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -353.6915773583297, + -133.01522290282117, + -2.8712188868766884 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -355.1915773583297, + -135.61329911417448, + -2.8712188868766884 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -356.6915773583297, + -138.2113753255278, + -2.8712188868766884 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -358.1915773583297, + -140.8094515368811, + -2.8712188868766884 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -359.6915773583297, + -143.40752774823443, + -2.8712188868766884 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -361.1915773583297, + -146.00560395958775, + -2.8712188868766884 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -362.6915773583297, + -148.60368017094106, + -2.8712188868766884 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -364.1915773583297, + -151.20175638229438, + -2.8712188868766884 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -365.6915773583297, + -153.7998325936477, + -2.8712188868766884 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -367.1915773583297, + -156.397908805001, + -2.8712188868766884 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -368.6915773583297, + -158.99598501635433, + -2.8712188868766884 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -370.1915773583297, + -161.59406122770764, + -2.8712188868766884 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -371.6915773583297, + -164.19213743906096, + -2.8712188868766884 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -373.1915773583297, + -166.79021365041427, + -2.8712188868766884 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -373.1915773583297, + -166.79021365041427, + -2.8712188868766884 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -375.789653569683, + -168.29021365041427, + -2.8712188868766884 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -378.38772978103634, + -169.79021365041427, + -2.8712188868766884 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -380.98580599238966, + -171.29021365041427, + -2.8712188868766884 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -383.583882203743, + -172.79021365041427, + -2.8712188868766884 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -386.1819584150963, + -174.29021365041427, + -2.8712188868766884 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -388.7800346264496, + -175.79021365041427, + -2.8712188868766884 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -391.3781108378029, + -177.29021365041427, + -2.8712188868766884 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -393.97618704915624, + -178.79021365041427, + -2.8712188868766884 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -395.0994828796387, + -178.58960372924804, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-19-51_1293259316/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-19-51_1293259316/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8440bfdbc4316d65b4fc0c7b58cc216bbf387389 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-19-51_1293259316/pose.jsonl @@ -0,0 +1,378 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -731.0020233533552, + 229.81525370131823, + 2.85833946471985 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -729.5020233533552, + 232.41332991267154, + 2.85833946471985 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -728.0020233533552, + 235.01140612402486, + 2.85833946471985 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -726.5020233533552, + 237.60948233537817, + 2.85833946471985 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -725.0020233533552, + 240.2075585467315, + 2.85833946471985 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -723.5020233533552, + 242.8056347580848, + 2.85833946471985 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -722.0020233533552, + 245.40371096943812, + 2.85833946471985 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -720.5020233533552, + 248.00178718079144, + 2.85833946471985 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -720.5020233533552, + 248.00178718079144, + 2.85833946471985 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -717.9039471420019, + 249.50178718079144, + 2.85833946471985 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -715.3058709306486, + 251.00178718079144, + 2.85833946471985 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -712.7077947192952, + 252.50178718079144, + 2.85833946471985 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -710.1097185079418, + 254.00178718079144, + 2.85833946471985 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -707.5116422965884, + 255.50178718079144, + 2.85833946471985 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -704.9135660852351, + 257.00178718079144, + 2.85833946471985 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -702.3154898738817, + 258.50178718079144, + 2.85833946471985 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -699.7174136625283, + 260.00178718079144, + 2.85833946471985 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -697.1193374511749, + 261.50178718079144, + 2.85833946471985 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -694.5212612398216, + 263.00178718079144, + 2.85833946471985 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -691.9231850284682, + 264.50178718079144, + 2.85833946471985 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -689.3251088171148, + 266.00178718079144, + 2.85833946471985 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -686.7270326057615, + 267.50178718079144, + 2.85833946471985 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -684.1289563944081, + 269.00178718079144, + 2.85833946471985 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -681.5308801830547, + 270.50178718079144, + 2.85833946471985 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -678.9328039717013, + 272.00178718079144, + 2.85833946471985 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -676.334727760348, + 273.50178718079144, + 2.85833946471985 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -673.7366515489946, + 275.00178718079144, + 2.85833946471985 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -671.1385753376412, + 276.50178718079144, + 2.85833946471985 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -669.1686190795898, + 276.07490257263186, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-20-42_1441252327/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-20-42_1441252327/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..93aa737f86ff02a89c5b5454cc79c490be2c0fb6 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-20-42_1441252327/pose.jsonl @@ -0,0 +1,391 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -325.5461058271952, + -9.088340912646792, + -4.364693829376567 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -328.14418203854854, + -7.5883409126467924, + -4.364693829376567 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -330.74225824990185, + -6.0883409126467924, + -4.364693829376567 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -333.34033446125517, + -4.5883409126467924, + -4.364693829376567 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -335.9384106726085, + -3.0883409126467924, + -4.364693829376567 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -338.5364868839618, + -1.5883409126467927, + -4.364693829376567 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -341.1345630953151, + -0.08834091264679289, + -4.364693829376567 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -343.73263930666843, + 1.4116590873532069, + -4.364693829376567 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -346.33071551802175, + 2.9116590873532067, + -4.364693829376567 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -348.92879172937506, + 4.411659087353207, + -4.364693829376567 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -351.5268679407284, + 5.911659087353207, + -4.364693829376567 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -354.1249441520817, + 7.411659087353207, + -4.364693829376567 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -356.723020363435, + 8.911659087353206, + -4.364693829376567 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991495 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -359.3210965747883, + 10.411659087353206, + -4.364693829376567 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -361.91917278614164, + 11.911659087353206, + -4.364693829376567 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -364.51724899749496, + 13.411659087353206, + -4.364693829376567 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -367.1153252088483, + 14.911659087353206, + -4.364693829376567 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -369.7134014202016, + 16.411659087353204, + -4.364693829376567 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991495 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -372.3114776315549, + 17.911659087353204, + -4.364693829376567 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -374.9095538429082, + 19.411659087353204, + -4.364693829376567 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -377.50763005426154, + 20.911659087353204, + -4.364693829376567 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -377.50763005426154, + 20.911659087353204, + -4.364693829376567 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -380.50763005426154, + 20.911659087353204, + -4.364693829376567 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -383.50763005426154, + 20.911659087353204, + -4.364693829376567 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -386.50763005426154, + 20.911659087353204, + -4.364693829376567 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -389.50763005426154, + 20.911659087353204, + -4.364693829376567 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -392.50763005426154, + 20.911659087353204, + -4.364693829376567 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -395.50763005426154, + 20.911659087353204, + -4.364693829376567 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -398.50763005426154, + 20.911659087353204, + -4.364693829376567 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -431.4943495178223, + 32.88219102859497, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-21-21_1440458800/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-21-21_1440458800/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9e6da5d501f98c7d09c93652dd8b240f665390ad --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-21-21_1440458800/pose.jsonl @@ -0,0 +1,443 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 172.87532636002734, + 626.8498284073243, + 4.8040387444654336 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 175.87532636002734, + 626.8498284073243, + 4.8040387444654336 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 178.87532636002734, + 626.8498284073243, + 4.8040387444654336 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 178.87532636002734, + 626.8498284073243, + 4.8040387444654336 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 178.87532636002734, + 626.8498284073243, + 4.8040387444654336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 180.37532636002734, + 629.4479046186775, + 4.8040387444654336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 181.87532636002734, + 632.0459808300309, + 4.8040387444654336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 183.37532636002734, + 634.6440570413843, + 4.8040387444654336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 184.87532636002734, + 637.2421332527376, + 4.8040387444654336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 186.37532636002734, + 639.840209464091, + 4.8040387444654336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 187.87532636002734, + 642.4382856754444, + 4.8040387444654336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 189.37532636002734, + 645.0363618867977, + 4.8040387444654336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 190.87532636002734, + 647.6344380981511, + 4.8040387444654336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 192.37532636002734, + 650.2325143095045, + 4.8040387444654336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 193.87532636002734, + 652.8305905208579, + 4.8040387444654336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 195.37532636002734, + 655.4286667322112, + 4.8040387444654336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 196.87532636002734, + 658.0267429435646, + 4.8040387444654336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 198.37532636002734, + 660.624819154918, + 4.8040387444654336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 199.87532636002734, + 663.2228953662714, + 4.8040387444654336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 201.37532636002734, + 665.8209715776247, + 4.8040387444654336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 202.87532636002734, + 668.4190477889781, + 4.8040387444654336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 204.37532636002734, + 671.0171240003315, + 4.8040387444654336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 205.87532636002734, + 673.6152002116849, + 4.8040387444654336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 207.37532636002734, + 676.2132764230382, + 4.8040387444654336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 208.87532636002734, + 678.8113526343916, + 4.8040387444654336 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 208.87532636002734, + 678.8113526343916, + 4.8040387444654336 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 211.47340257138066, + 680.3113526343916, + 4.8040387444654336 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 214.07147878273398, + 681.8113526343916, + 4.8040387444654336 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 216.6695549940873, + 683.3113526343916, + 4.8040387444654336 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 219.2676312054406, + 684.8113526343916, + 4.8040387444654336 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 221.86570741679392, + 686.3113526343916, + 4.8040387444654336 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 224.46378362814724, + 687.8113526343916, + 4.8040387444654336 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 227.06185983950056, + 689.3113526343916, + 4.8040387444654336 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 229.7172834777832, + 692.2608906555175, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-21-37_1514722040/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-21-37_1514722040/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c1fc23ffd7b0dad305fb084c4586694d374cbfa7 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-21-37_1514722040/pose.jsonl @@ -0,0 +1,430 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -419.91881826555345, + -228.01751671811644, + 4.909678029923343 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -417.32074205420014, + -229.51751671811644, + 4.909678029923343 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -414.7226658428468, + -231.01751671811644, + 4.909678029923343 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -412.1245896314935, + -232.51751671811644, + 4.909678029923343 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -409.5265134201402, + -234.01751671811644, + 4.909678029923343 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -406.9284372087869, + -235.51751671811644, + 4.909678029923343 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -404.33036099743356, + -237.01751671811644, + 4.909678029923343 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -401.73228478608024, + -238.51751671811644, + 4.909678029923343 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -399.1342085747269, + -240.01751671811644, + 4.909678029923343 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -396.5361323633736, + -241.51751671811644, + 4.909678029923343 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -393.9380561520203, + -243.01751671811644, + 4.909678029923343 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -391.339979940667, + -244.51751671811644, + 4.909678029923343 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -388.74190372931366, + -246.01751671811644, + 4.909678029923343 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -386.14382751796035, + -247.51751671811644, + 4.909678029923343 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -383.54575130660703, + -249.01751671811644, + 4.909678029923343 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -383.54575130660703, + -249.01751671811644, + 4.909678029923343 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -382.04575130660703, + -251.61559292946976, + 4.909678029923343 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -380.54575130660703, + -254.21366914082307, + 4.909678029923343 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -379.04575130660703, + -256.8117453521764, + 4.909678029923343 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -377.54575130660703, + -259.4098215635297, + 4.909678029923343 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -376.04575130660703, + -262.007897774883, + 4.909678029923343 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -374.54575130660703, + -264.60597398623634, + 4.909678029923343 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -373.04575130660703, + -267.20405019758965, + 4.909678029923343 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -371.54575130660703, + -269.80212640894297, + 4.909678029923343 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -370.04575130660703, + -272.4002026202963, + 4.909678029923343 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -368.54575130660703, + -274.9982788316496, + 4.909678029923343 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -367.04575130660703, + -277.5963550430029, + 4.909678029923343 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -365.54575130660703, + -280.19443125435623, + 4.909678029923343 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -364.04575130660703, + -282.79250746570955, + 4.909678029923343 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -364.04575130660703, + -282.79250746570955, + 4.909678029923343 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -361.4476750952537, + -284.29250746570955, + 4.909678029923343 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -358.8495988839004, + -285.79250746570955, + 4.909678029923343 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -357.95375900268556, + -286.8376789855957, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-22-58_1259042831/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-22-58_1259042831/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cb488ed45666f962d9d1f448f907b65dda7d518f --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-22-58_1259042831/pose.jsonl @@ -0,0 +1,430 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -918.7779021153603, + 307.69194081032765, + -0.3984863196432329 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -921.3759783267137, + 306.19194081032765, + -0.3984863196432329 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -923.9740545380671, + 304.69194081032765, + -0.3984863196432329 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -926.5721307494205, + 303.19194081032765, + -0.3984863196432329 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -929.1702069607738, + 301.69194081032765, + -0.3984863196432329 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -931.7682831721272, + 300.19194081032765, + -0.3984863196432329 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -934.3663593834806, + 298.69194081032765, + -0.3984863196432329 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -936.964435594834, + 297.19194081032765, + -0.3984863196432329 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -939.5625118061873, + 295.69194081032765, + -0.3984863196432329 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -942.1605880175407, + 294.19194081032765, + -0.3984863196432329 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -944.7586642288941, + 292.69194081032765, + -0.3984863196432329 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -947.3567404402474, + 291.19194081032765, + -0.3984863196432329 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -949.9548166516008, + 289.69194081032765, + -0.3984863196432329 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -952.5528928629542, + 288.19194081032765, + -0.3984863196432329 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -955.1509690743076, + 286.69194081032765, + -0.3984863196432329 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -957.7490452856609, + 285.19194081032765, + -0.3984863196432329 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -960.3471214970143, + 283.69194081032765, + -0.3984863196432329 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -962.9451977083677, + 282.19194081032765, + -0.3984863196432329 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -965.5432739197211, + 280.69194081032765, + -0.3984863196432329 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -968.1413501310744, + 279.19194081032765, + -0.3984863196432329 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -970.7394263424278, + 277.69194081032765, + -0.3984863196432329 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -970.7394263424278, + 277.69194081032765, + -0.3984863196432329 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -973.7394263424278, + 277.69194081032765, + -0.3984863196432329 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -976.7394263424278, + 277.69194081032765, + -0.3984863196432329 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -979.7394263424278, + 277.69194081032765, + -0.3984863196432329 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -982.7394263424278, + 277.69194081032765, + -0.3984863196432329 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -985.7394263424278, + 277.69194081032765, + -0.3984863196432329 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -988.7394263424278, + 277.69194081032765, + -0.3984863196432329 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -991.7394263424278, + 277.69194081032765, + -0.3984863196432329 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -994.7394263424278, + 277.69194081032765, + -0.3984863196432329 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -997.7394263424278, + 277.69194081032765, + -0.3984863196432329 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1000.7394263424278, + 277.69194081032765, + -0.3984863196432329 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1002.9734149169922, + 277.3824105834961, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-25-48_218474917/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-25-48_218474917/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0df01595e44f77de47478aa05dcd51024059bd07 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-25-48_218474917/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -702.232760396646, + -231.94111643011883, + -3.992163738839947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -700.732760396646, + -229.3430402187655, + -3.992163738839947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -699.232760396646, + -226.7449640074122, + -3.992163738839947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -697.732760396646, + -224.14688779605888, + -3.992163738839947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -696.232760396646, + -221.54881158470556, + -3.992163738839947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -694.732760396646, + -218.95073537335225, + -3.992163738839947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -693.232760396646, + -216.35265916199893, + -3.992163738839947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -691.732760396646, + -213.7545829506456, + -3.992163738839947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -690.232760396646, + -211.1565067392923, + -3.992163738839947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -688.732760396646, + -208.55843052793898, + -3.992163738839947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -687.232760396646, + -205.96035431658566, + -3.992163738839947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -685.732760396646, + -203.36227810523235, + -3.992163738839947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -684.232760396646, + -200.76420189387903, + -3.992163738839947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -682.732760396646, + -198.16612568252572, + -3.992163738839947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -681.232760396646, + -195.5680494711724, + -3.992163738839947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -679.732760396646, + -192.96997325981908, + -3.992163738839947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -678.232760396646, + -190.37189704846577, + -3.992163738839947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -676.732760396646, + -187.77382083711245, + -3.992163738839947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -675.232760396646, + -185.17574462575914, + -3.992163738839947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -673.732760396646, + -182.57766841440582, + -3.992163738839947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -672.232760396646, + -179.9795922030525, + -3.992163738839947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -670.732760396646, + -177.3815159916992, + -3.992163738839947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -669.232760396646, + -174.78343978034587, + -3.992163738839947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -667.732760396646, + -172.18536356899256, + -3.992163738839947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -666.232760396646, + -169.58728735763924, + -3.992163738839947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -664.732760396646, + -166.98921114628592, + -3.992163738839947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -663.232760396646, + -164.3911349349326, + -3.992163738839947 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -661.3270858764648, + -162.2898444366455, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-29-26_1944442929/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-29-26_1944442929/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..17946ffb00b775b64bffee131e6f6f487f09bb8f --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-29-26_1944442929/pose.jsonl @@ -0,0 +1,560 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -537.0320676938264, + -89.740891963354, + 2.8885982409428115 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -534.4339914824732, + -91.240891963354, + 2.8885982409428115 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -534.4339914824732, + -91.240891963354, + 2.8885982409428115 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -532.9339914824732, + -93.83896817470732, + 2.8885982409428115 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -531.4339914824732, + -96.43704438606063, + 2.8885982409428115 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -529.9339914824732, + -99.03512059741395, + 2.8885982409428115 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -528.4339914824732, + -101.63319680876727, + 2.8885982409428115 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -526.9339914824732, + -104.23127302012058, + 2.8885982409428115 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -525.4339914824732, + -106.8293492314739, + 2.8885982409428115 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -523.9339914824732, + -109.42742544282721, + 2.8885982409428115 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -522.4339914824732, + -112.02550165418053, + 2.8885982409428115 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -520.9339914824732, + -114.62357786553385, + 2.8885982409428115 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -519.4339914824732, + -117.22165407688716, + 2.8885982409428115 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -517.9339914824732, + -119.81973028824048, + 2.8885982409428115 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -517.9339914824732, + -119.81973028824048, + 2.8885982409428115 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -515.3359152711198, + -121.31973028824048, + 2.8885982409428115 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -512.7378390597664, + -122.81973028824048, + 2.8885982409428115 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -510.1397628484131, + -124.31973028824048, + 2.8885982409428115 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -507.5416866370598, + -125.81973028824048, + 2.8885982409428115 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -504.9436104257065, + -127.31973028824048, + 2.8885982409428115 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -502.34553421435317, + -128.81973028824046, + 2.8885982409428115 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982947 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -499.74745800299985, + -130.31973028824046, + 2.8885982409428115 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -497.14938179164653, + -131.81973028824046, + 2.8885982409428115 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -494.5513055802932, + -133.31973028824046, + 2.8885982409428115 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -491.9532293689399, + -134.81973028824046, + 2.8885982409428115 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -489.3551531575866, + -136.31973028824046, + 2.8885982409428115 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -486.75707694623327, + -137.81973028824046, + 2.8885982409428115 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -484.15900073487995, + -139.31973028824046, + 2.8885982409428115 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -481.56092452352664, + -140.81973028824046, + 2.8885982409428115 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -478.9628483121733, + -142.31973028824046, + 2.8885982409428115 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -476.36477210082, + -143.81973028824046, + 2.8885982409428115 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -473.7666958894667, + -145.31973028824046, + 2.8885982409428115 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -471.1686196781134, + -146.81973028824046, + 2.8885982409428115 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -468.57054346676006, + -148.31973028824046, + 2.8885982409428115 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -465.97246725540674, + -149.81973028824046, + 2.8885982409428115 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -463.3743910440534, + -151.31973028824046, + 2.8885982409428115 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -460.7763148327001, + -152.81973028824046, + 2.8885982409428115 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -458.1782386213468, + -154.31973028824046, + 2.8885982409428115 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -455.5801624099935, + -155.81973028824046, + 2.8885982409428115 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -452.98208619864016, + -157.31973028824046, + 2.8885982409428115 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -450.38400998728684, + -158.81973028824046, + 2.8885982409428115 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -447.78593377593353, + -160.31973028824046, + 2.8885982409428115 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -445.52278427124025, + -160.4525846862793, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-35-47_219147069/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-35-47_219147069/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..663053538bc5ac45da576ae3c44a4c0392788f2a --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-35-47_219147069/pose.jsonl @@ -0,0 +1,534 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -340.3458707525403, + -198.67086144184714, + 0.8670555317656659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -342.9439469638936, + -197.17086144184714, + 0.8670555317656659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -345.5420231752469, + -195.67086144184714, + 0.8670555317656659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -348.14009938660024, + -194.17086144184714, + 0.8670555317656659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -350.73817559795356, + -192.67086144184714, + 0.8670555317656659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -353.3362518093069, + -191.17086144184714, + 0.8670555317656659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -355.9343280206602, + -189.67086144184714, + 0.8670555317656659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -358.5324042320135, + -188.17086144184714, + 0.8670555317656659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -361.1304804433668, + -186.67086144184714, + 0.8670555317656659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -363.72855665472014, + -185.17086144184714, + 0.8670555317656659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -366.32663286607345, + -183.67086144184714, + 0.8670555317656659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -368.92470907742677, + -182.17086144184714, + 0.8670555317656659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -371.5227852887801, + -180.67086144184714, + 0.8670555317656659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -374.1208615001334, + -179.17086144184714, + 0.8670555317656659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -376.7189377114867, + -177.67086144184714, + 0.8670555317656659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -379.31701392284003, + -176.17086144184714, + 0.8670555317656659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -381.91509013419335, + -174.67086144184714, + 0.8670555317656659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -384.51316634554667, + -173.17086144184714, + 0.8670555317656659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -387.1112425569, + -171.67086144184714, + 0.8670555317656659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -389.7093187682533, + -170.17086144184714, + 0.8670555317656659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -392.3073949796066, + -168.67086144184714, + 0.8670555317656659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -394.90547119095993, + -167.17086144184714, + 0.8670555317656659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -397.50354740231325, + -165.67086144184714, + 0.8670555317656659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -400.10162361366656, + -164.17086144184714, + 0.8670555317656659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -402.6996998250199, + -162.67086144184714, + 0.8670555317656659 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -402.6996998250199, + -162.67086144184714, + 0.8670555317656659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -405.6996998250199, + -162.67086144184714, + 0.8670555317656659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -408.6996998250199, + -162.67086144184714, + 0.8670555317656659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -411.6996998250199, + -162.67086144184714, + 0.8670555317656659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -414.6996998250199, + -162.67086144184714, + 0.8670555317656659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -417.6996998250199, + -162.67086144184714, + 0.8670555317656659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -420.6996998250199, + -162.67086144184714, + 0.8670555317656659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -423.6996998250199, + -162.67086144184714, + 0.8670555317656659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -426.6996998250199, + -162.67086144184714, + 0.8670555317656659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -429.6996998250199, + -162.67086144184714, + 0.8670555317656659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -432.6996998250199, + -162.67086144184714, + 0.8670555317656659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -435.6996998250199, + -162.67086144184714, + 0.8670555317656659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -438.6996998250199, + -162.67086144184714, + 0.8670555317656659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -441.6996998250199, + -162.67086144184714, + 0.8670555317656659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -444.6996998250199, + -162.67086144184714, + 0.8670555317656659 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -445.52278427124025, + -160.4525846862793, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-37-51_1550692118/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-37-51_1550692118/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6794093719ef4695602b228181882e62dadeb75e --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-37-51_1550692118/pose.jsonl @@ -0,0 +1,378 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -59.570405243347636, + 323.9900133650917, + -2.1999156651471092 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -61.070405243347636, + 326.58808957644504, + -2.1999156651471092 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -62.570405243347636, + 329.18616578779836, + -2.1999156651471092 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -64.07040524334764, + 331.7842419991517, + -2.1999156651471092 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -65.57040524334764, + 334.382318210505, + -2.1999156651471092 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -67.07040524334764, + 336.9803944218583, + -2.1999156651471092 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -68.57040524334764, + 339.5784706332116, + -2.1999156651471092 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -70.07040524334764, + 342.17654684456494, + -2.1999156651471092 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -71.57040524334764, + 344.77462305591825, + -2.1999156651471092 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -73.07040524334764, + 347.37269926727157, + -2.1999156651471092 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -74.57040524334764, + 349.9707754786249, + -2.1999156651471092 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -76.07040524334764, + 352.5688516899782, + -2.1999156651471092 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -77.57040524334764, + 355.1669279013315, + -2.1999156651471092 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -77.57040524334764, + 355.1669279013315, + -2.1999156651471092 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -80.16848145470095, + 356.6669279013315, + -2.1999156651471092 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -82.76655766605427, + 358.1669279013315, + -2.1999156651471092 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -85.36463387740758, + 359.6669279013315, + -2.1999156651471092 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -87.9627100887609, + 361.1669279013315, + -2.1999156651471092 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -90.56078630011422, + 362.6669279013315, + -2.1999156651471092 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -93.15886251146753, + 364.1669279013315, + -2.1999156651471092 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -95.75693872282085, + 365.6669279013315, + -2.1999156651471092 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -98.35501493417416, + 367.1669279013315, + -2.1999156651471092 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -100.95309114552748, + 368.6669279013315, + -2.1999156651471092 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -103.5511673568808, + 370.1669279013315, + -2.1999156651471092 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -106.14924356823411, + 371.6669279013315, + -2.1999156651471092 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -108.74731977958743, + 373.1669279013315, + -2.1999156651471092 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -111.34539599094074, + 374.6669279013315, + -2.1999156651471092 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -113.94347220229406, + 376.1669279013315, + -2.1999156651471092 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -114.1546768951416, + 378.73713836669924, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-40-16_2041824130/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-40-16_2041824130/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..136e02098e7bbb17a5b4552ce77ad68f1e2773a7 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-40-16_2041824130/pose.jsonl @@ -0,0 +1,469 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -35.85056824660232, + 2.036341129838414, + 4.4574446780968415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -32.85056824660232, + 2.036341129838414, + 4.4574446780968415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -29.85056824660232, + 2.036341129838414, + 4.4574446780968415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -26.85056824660232, + 2.036341129838414, + 4.4574446780968415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -23.85056824660232, + 2.036341129838414, + 4.4574446780968415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -20.85056824660232, + 2.036341129838414, + 4.4574446780968415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -17.85056824660232, + 2.036341129838414, + 4.4574446780968415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -14.850568246602322, + 2.036341129838414, + 4.4574446780968415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -11.850568246602322, + 2.036341129838414, + 4.4574446780968415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -8.850568246602322, + 2.036341129838414, + 4.4574446780968415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -5.850568246602322, + 2.036341129838414, + 4.4574446780968415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2.8505682466023217, + 2.036341129838414, + 4.4574446780968415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 0.14943175339767834, + 2.036341129838414, + 4.4574446780968415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 3.1494317533976783, + 2.036341129838414, + 4.4574446780968415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 6.149431753397678, + 2.036341129838414, + 4.4574446780968415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 9.149431753397678, + 2.036341129838414, + 4.4574446780968415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 12.149431753397678, + 2.036341129838414, + 4.4574446780968415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 15.149431753397678, + 2.036341129838414, + 4.4574446780968415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 18.14943175339768, + 2.036341129838414, + 4.4574446780968415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 21.14943175339768, + 2.036341129838414, + 4.4574446780968415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 24.14943175339768, + 2.036341129838414, + 4.4574446780968415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 27.14943175339768, + 2.036341129838414, + 4.4574446780968415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 30.14943175339768, + 2.036341129838414, + 4.4574446780968415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 33.14943175339768, + 2.036341129838414, + 4.4574446780968415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 36.14943175339768, + 2.036341129838414, + 4.4574446780968415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 39.14943175339768, + 2.036341129838414, + 4.4574446780968415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 42.14943175339768, + 2.036341129838414, + 4.4574446780968415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 45.14943175339768, + 2.036341129838414, + 4.4574446780968415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 48.14943175339768, + 2.036341129838414, + 4.4574446780968415 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 48.14943175339768, + 2.036341129838414, + 4.4574446780968415 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 48.14943175339768, + 2.036341129838414, + 4.4574446780968415 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 49.64943175339768, + -0.561735081514902, + 4.4574446780968415 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 51.14943175339768, + -3.159811292868218, + 4.4574446780968415 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 52.64943175339768, + -5.757887504221534, + 4.4574446780968415 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 54.14943175339768, + -8.35596371557485, + 4.4574446780968415 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 56.6919751739502, + -8.754466934204101, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-41-17_175821956/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-41-17_175821956/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3f68ab93452a95f111646cb8240951c58bb982bf --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-41-17_175821956/pose.jsonl @@ -0,0 +1,404 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -910.7486256088976, + 293.0457401605129, + -1.2106598199581113 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -913.3467018202509, + 294.5457401605129, + -1.2106598199581113 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -915.9447780316043, + 296.0457401605129, + -1.2106598199581113 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -918.5428542429577, + 297.5457401605129, + -1.2106598199581113 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -921.140930454311, + 299.0457401605129, + -1.2106598199581113 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -923.7390066656644, + 300.5457401605129, + -1.2106598199581113 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -926.3370828770178, + 302.0457401605129, + -1.2106598199581113 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -928.9351590883712, + 303.5457401605129, + -1.2106598199581113 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -931.5332352997245, + 305.0457401605129, + -1.2106598199581113 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -934.1313115110779, + 306.5457401605129, + -1.2106598199581113 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -936.7293877224313, + 308.0457401605129, + -1.2106598199581113 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -939.3274639337847, + 309.5457401605129, + -1.2106598199581113 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -941.925540145138, + 311.0457401605129, + -1.2106598199581113 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -944.5236163564914, + 312.5457401605129, + -1.2106598199581113 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -947.1216925678448, + 314.0457401605129, + -1.2106598199581113 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -949.7197687791981, + 315.5457401605129, + -1.2106598199581113 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -952.3178449905515, + 317.0457401605129, + -1.2106598199581113 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -952.3178449905515, + 317.0457401605129, + -1.2106598199581113 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -953.8178449905515, + 319.6438163718662, + -1.2106598199581113 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -955.3178449905515, + 322.2418925832195, + -1.2106598199581113 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -956.8178449905515, + 324.8399687945728, + -1.2106598199581113 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -958.3178449905515, + 327.43804500592614, + -1.2106598199581113 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -959.8178449905515, + 330.03612121727946, + -1.2106598199581113 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -961.3178449905515, + 332.6341974286328, + -1.2106598199581113 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -962.8178449905515, + 335.2322736399861, + -1.2106598199581113 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -964.3178449905515, + 337.8303498513394, + -1.2106598199581113 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -965.8178449905515, + 340.4284260626927, + -1.2106598199581113 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -967.3178449905515, + 343.02650227404604, + -1.2106598199581113 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -968.8178449905515, + 345.62457848539935, + -1.2106598199581113 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -970.3178449905515, + 348.22265469675267, + -1.2106598199581113 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -979.8297436523437, + 358.6925830078125, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-46-33_1541787377/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-46-33_1541787377/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..12d02c75fa078456125be89456ce415dae01b941 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-46-33_1541787377/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 273.29543749801553, + 776.4391331274396, + -2.924195616888214 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 270.29543749801553, + 776.4391331274396, + -2.924195616888214 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 267.29543749801553, + 776.4391331274396, + -2.924195616888214 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 264.29543749801553, + 776.4391331274396, + -2.924195616888214 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 261.29543749801553, + 776.4391331274396, + -2.924195616888214 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 258.29543749801553, + 776.4391331274396, + -2.924195616888214 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 255.29543749801553, + 776.4391331274396, + -2.924195616888214 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 252.29543749801553, + 776.4391331274396, + -2.924195616888214 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 249.29543749801553, + 776.4391331274396, + -2.924195616888214 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 246.29543749801553, + 776.4391331274396, + -2.924195616888214 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 243.29543749801553, + 776.4391331274396, + -2.924195616888214 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 240.29543749801553, + 776.4391331274396, + -2.924195616888214 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 237.29543749801553, + 776.4391331274396, + -2.924195616888214 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 234.29543749801553, + 776.4391331274396, + -2.924195616888214 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 231.29543749801553, + 776.4391331274396, + -2.924195616888214 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 228.29543749801553, + 776.4391331274396, + -2.924195616888214 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 225.29543749801553, + 776.4391331274396, + -2.924195616888214 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 222.29543749801553, + 776.4391331274396, + -2.924195616888214 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 219.29543749801553, + 776.4391331274396, + -2.924195616888214 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 216.29543749801553, + 776.4391331274396, + -2.924195616888214 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 213.29543749801553, + 776.4391331274396, + -2.924195616888214 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 210.29543749801553, + 776.4391331274396, + -2.924195616888214 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 207.29543749801553, + 776.4391331274396, + -2.924195616888214 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 204.29543749801553, + 776.4391331274396, + -2.924195616888214 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 201.67972503662108, + 776.560556640625, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-47-3_543785591/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-47-3_543785591/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d0aa1fbf7cbd3fe993db1245c426b0b4d71c3b91 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-47-3_543785591/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -678.1554988439182, + 32.86965311081468, + 2.5474024806319786 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -678.1554988439182, + 35.86965311081468, + 2.5474024806319786 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -678.1554988439182, + 38.86965311081468, + 2.5474024806319786 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -678.1554988439182, + 41.86965311081468, + 2.5474024806319786 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -678.1554988439182, + 44.86965311081468, + 2.5474024806319786 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -678.1554988439182, + 47.86965311081468, + 2.5474024806319786 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -678.1554988439182, + 50.86965311081468, + 2.5474024806319786 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -678.1554988439182, + 53.86965311081468, + 2.5474024806319786 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -678.1554988439182, + 56.86965311081468, + 2.5474024806319786 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -678.1554988439182, + 59.86965311081468, + 2.5474024806319786 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -678.1554988439182, + 62.86965311081468, + 2.5474024806319786 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -678.1554988439182, + 65.86965311081468, + 2.5474024806319786 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -678.1554988439182, + 68.86965311081468, + 2.5474024806319786 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -678.1554988439182, + 71.86965311081468, + 2.5474024806319786 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -678.1554988439182, + 74.86965311081468, + 2.5474024806319786 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -678.1554988439182, + 77.86965311081468, + 2.5474024806319786 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -678.1554988439182, + 80.86965311081468, + 2.5474024806319786 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -678.1554988439182, + 83.86965311081468, + 2.5474024806319786 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -678.1554988439182, + 86.86965311081468, + 2.5474024806319786 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -678.1554988439182, + 89.86965311081468, + 2.5474024806319786 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -678.1554988439182, + 92.86965311081468, + 2.5474024806319786 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -678.1554988439182, + 95.86965311081468, + 2.5474024806319786 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -678.1554988439182, + 98.86965311081468, + 2.5474024806319786 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -678.1554988439182, + 101.86965311081468, + 2.5474024806319786 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -678.1554988439182, + 101.86965311081468, + 2.5474024806319786 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -679.6554988439182, + 104.467729322168, + 2.5474024806319786 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -681.1554988439182, + 107.06580553352131, + 2.5474024806319786 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -682.7478131103516, + 107.50352409362793, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-48-22_1912802551/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-48-22_1912802551/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..68cedc8a2e4ca0acb82fbffaf9aa6d7fa60b010b --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-48-22_1912802551/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 406.9598168056554, + 627.5885991816186, + 3.5559372445979225 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 408.4598168056554, + 624.9905229702654, + 3.5559372445979225 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 409.9598168056554, + 622.392446758912, + 3.5559372445979225 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 411.4598168056554, + 619.7943705475586, + 3.5559372445979225 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 412.9598168056554, + 617.1962943362053, + 3.5559372445979225 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 414.4598168056554, + 614.5982181248519, + 3.5559372445979225 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 415.9598168056554, + 612.0001419134985, + 3.5559372445979225 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 417.4598168056554, + 609.4020657021451, + 3.5559372445979225 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 418.9598168056554, + 606.8039894907918, + 3.5559372445979225 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 420.4598168056554, + 604.2059132794384, + 3.5559372445979225 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 421.9598168056554, + 601.607837068085, + 3.5559372445979225 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 423.4598168056554, + 599.0097608567316, + 3.5559372445979225 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 424.9598168056554, + 596.4116846453783, + 3.5559372445979225 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 426.4598168056554, + 593.8136084340249, + 3.5559372445979225 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 427.9598168056554, + 591.2155322226715, + 3.5559372445979225 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 429.4598168056554, + 588.6174560113182, + 3.5559372445979225 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 430.9598168056554, + 586.0193797999648, + 3.5559372445979225 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 432.4598168056554, + 583.4213035886114, + 3.5559372445979225 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 432.4598168056554, + 583.4213035886114, + 3.5559372445979225 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 432.4598168056554, + 580.4213035886114, + 3.5559372445979225 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 432.4598168056554, + 577.4213035886114, + 3.5559372445979225 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 432.4598168056554, + 574.4213035886114, + 3.5559372445979225 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 432.4598168056554, + 571.4213035886114, + 3.5559372445979225 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 432.4598168056554, + 568.4213035886114, + 3.5559372445979225 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 432.4598168056554, + 565.4213035886114, + 3.5559372445979225 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 434.03729019165036, + 563.8867979431152, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-56-42_1911539847/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-56-42_1911539847/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e9063e516aaf698d78c748e2f47b81038ee5de5a --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-56-42_1911539847/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -233.55231260281704, + 59.46685968757981, + 1.3069360058707025 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -233.55231260281704, + 56.46685968757981, + 1.3069360058707025 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -233.55231260281704, + 53.46685968757981, + 1.3069360058707025 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -233.55231260281704, + 50.46685968757981, + 1.3069360058707025 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -233.55231260281704, + 47.46685968757981, + 1.3069360058707025 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -233.55231260281704, + 44.46685968757981, + 1.3069360058707025 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -233.55231260281704, + 41.46685968757981, + 1.3069360058707025 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -233.55231260281704, + 38.46685968757981, + 1.3069360058707025 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -233.55231260281704, + 35.46685968757981, + 1.3069360058707025 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -233.55231260281704, + 32.46685968757981, + 1.3069360058707025 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -233.55231260281704, + 29.466859687579813, + 1.3069360058707025 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -233.55231260281704, + 26.466859687579813, + 1.3069360058707025 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -233.55231260281704, + 23.466859687579813, + 1.3069360058707025 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -233.55231260281704, + 20.466859687579813, + 1.3069360058707025 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -233.55231260281704, + 17.466859687579813, + 1.3069360058707025 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -233.55231260281704, + 14.466859687579813, + 1.3069360058707025 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -233.55231260281704, + 11.466859687579813, + 1.3069360058707025 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -233.55231260281704, + 8.466859687579813, + 1.3069360058707025 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -233.55231260281704, + 5.466859687579813, + 1.3069360058707025 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -233.55231260281704, + 2.466859687579813, + 1.3069360058707025 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -233.55231260281704, + -0.533140312420187, + 1.3069360058707025 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -233.55231260281704, + -3.533140312420187, + 1.3069360058707025 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -233.55231260281704, + -3.533140312420187, + 1.3069360058707025 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -233.55231260281704, + -3.533140312420187, + 1.3069360058707025 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -236.15038881417036, + -5.033140312420187, + 1.3069360058707025 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -238.74846502552367, + -6.533140312420187, + 1.3069360058707025 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -241.346541236877, + -8.033140312420187, + 1.3069360058707025 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -242.29689208984374, + -10.230338129997254, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-6-55_1265596083/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-6-55_1265596083/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9cba4d0b919d63cd211ca9a1c6a05d93686493a9 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-6-55_1265596083/pose.jsonl @@ -0,0 +1,456 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -206.01934742921168, + 367.4116371619437, + 2.093291487788516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -203.01934742921168, + 367.4116371619437, + 2.093291487788516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -200.01934742921168, + 367.4116371619437, + 2.093291487788516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -197.01934742921168, + 367.4116371619437, + 2.093291487788516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -194.01934742921168, + 367.4116371619437, + 2.093291487788516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -191.01934742921168, + 367.4116371619437, + 2.093291487788516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -188.01934742921168, + 367.4116371619437, + 2.093291487788516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -185.01934742921168, + 367.4116371619437, + 2.093291487788516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -182.01934742921168, + 367.4116371619437, + 2.093291487788516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -179.01934742921168, + 367.4116371619437, + 2.093291487788516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -176.01934742921168, + 367.4116371619437, + 2.093291487788516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -173.01934742921168, + 367.4116371619437, + 2.093291487788516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -170.01934742921168, + 367.4116371619437, + 2.093291487788516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -167.01934742921168, + 367.4116371619437, + 2.093291487788516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -164.01934742921168, + 367.4116371619437, + 2.093291487788516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -161.01934742921168, + 367.4116371619437, + 2.093291487788516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -158.01934742921168, + 367.4116371619437, + 2.093291487788516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -155.01934742921168, + 367.4116371619437, + 2.093291487788516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -152.01934742921168, + 367.4116371619437, + 2.093291487788516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -149.01934742921168, + 367.4116371619437, + 2.093291487788516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -146.01934742921168, + 367.4116371619437, + 2.093291487788516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -143.01934742921168, + 367.4116371619437, + 2.093291487788516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -140.01934742921168, + 367.4116371619437, + 2.093291487788516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -137.01934742921168, + 367.4116371619437, + 2.093291487788516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -134.01934742921168, + 367.4116371619437, + 2.093291487788516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -131.01934742921168, + 367.4116371619437, + 2.093291487788516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -128.01934742921168, + 367.4116371619437, + 2.093291487788516 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -128.01934742921168, + 367.4116371619437, + 2.093291487788516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -125.42127121785836, + 368.9116371619437, + 2.093291487788516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -122.82319500650505, + 370.4116371619437, + 2.093291487788516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -120.22511879515173, + 371.9116371619437, + 2.093291487788516 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -120.22511879515173, + 371.9116371619437, + 2.093291487788516 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -118.72511879515173, + 374.509713373297, + 2.093291487788516 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -117.22511879515173, + 377.10778958465033, + 2.093291487788516 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -114.1546768951416, + 378.73713836669924, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-6-6_1424771149/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-6-6_1424771149/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c0d05813855f1779f8aae3a605b1896f6a09d810 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-6-6_1424771149/pose.jsonl @@ -0,0 +1,391 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -691.233629822909, + 353.10442301474257, + 0.32864574268382185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -689.733629822909, + 350.50634680338925, + 0.32864574268382185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -688.233629822909, + 347.90827059203593, + 0.32864574268382185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -686.733629822909, + 345.3101943806826, + 0.32864574268382185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -685.233629822909, + 342.7121181693293, + 0.32864574268382185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -683.733629822909, + 340.114041957976, + 0.32864574268382185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -682.233629822909, + 337.51596574662267, + 0.32864574268382185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -680.733629822909, + 334.91788953526935, + 0.32864574268382185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -679.233629822909, + 332.31981332391604, + 0.32864574268382185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -677.733629822909, + 329.7217371125627, + 0.32864574268382185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -676.233629822909, + 327.1236609012094, + 0.32864574268382185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -674.733629822909, + 324.5255846898561, + 0.32864574268382185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -673.233629822909, + 321.9275084785028, + 0.32864574268382185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -671.733629822909, + 319.32943226714946, + 0.32864574268382185 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -671.733629822909, + 319.32943226714946, + 0.32864574268382185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -671.733629822909, + 316.32943226714946, + 0.32864574268382185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -671.733629822909, + 313.32943226714946, + 0.32864574268382185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -671.733629822909, + 310.32943226714946, + 0.32864574268382185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -671.733629822909, + 307.32943226714946, + 0.32864574268382185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -671.733629822909, + 304.32943226714946, + 0.32864574268382185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -671.733629822909, + 301.32943226714946, + 0.32864574268382185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -671.733629822909, + 298.32943226714946, + 0.32864574268382185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -671.733629822909, + 295.32943226714946, + 0.32864574268382185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -671.733629822909, + 292.32943226714946, + 0.32864574268382185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -671.733629822909, + 289.32943226714946, + 0.32864574268382185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -671.733629822909, + 286.32943226714946, + 0.32864574268382185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -671.733629822909, + 283.32943226714946, + 0.32864574268382185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -671.733629822909, + 280.32943226714946, + 0.32864574268382185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -671.733629822909, + 277.32943226714946, + 0.32864574268382185 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -669.1686190795898, + 276.07490257263186, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-9-23_1937495191/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-9-23_1937495191/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..479dab69b1617a380852dc747205ef039c4a99f5 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-9-23_1937495191/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -600.9865908995762, + 163.76298661970347, + 3.1143996430321668 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -598.3885146882228, + 165.26298661970347, + 3.1143996430321668 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -595.7904384768694, + 166.76298661970347, + 3.1143996430321668 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -593.1923622655161, + 168.26298661970347, + 3.1143996430321668 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -590.5942860541627, + 169.76298661970347, + 3.1143996430321668 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -587.9962098428093, + 171.26298661970347, + 3.1143996430321668 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -585.398133631456, + 172.76298661970347, + 3.1143996430321668 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -582.8000574201026, + 174.26298661970347, + 3.1143996430321668 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -580.2019812087492, + 175.76298661970347, + 3.1143996430321668 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -577.6039049973958, + 177.26298661970347, + 3.1143996430321668 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -575.0058287860425, + 178.76298661970347, + 3.1143996430321668 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -572.4077525746891, + 180.26298661970347, + 3.1143996430321668 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -569.8096763633357, + 181.76298661970347, + 3.1143996430321668 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -567.2116001519823, + 183.26298661970347, + 3.1143996430321668 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -564.613523940629, + 184.76298661970347, + 3.1143996430321668 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -562.0154477292756, + 186.26298661970347, + 3.1143996430321668 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -559.4173715179222, + 187.76298661970347, + 3.1143996430321668 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -556.8192953065688, + 189.26298661970347, + 3.1143996430321668 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -554.2212190952155, + 190.76298661970347, + 3.1143996430321668 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -551.6231428838621, + 192.26298661970347, + 3.1143996430321668 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -551.6231428838621, + 192.26298661970347, + 3.1143996430321668 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -550.1231428838621, + 194.86106283105678, + 3.1143996430321668 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -548.6231428838621, + 197.4591390424101, + 3.1143996430321668 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -547.9009985351562, + 200.65022193908692, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-1-26_282723354/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-1-26_282723354/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7f4707e20f5b369101a47d26a9196a023ef9f914 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-1-26_282723354/pose.jsonl @@ -0,0 +1,482 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -575.4163813632391, + 297.0483047547254, + 0.15127966338500443 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -573.9163813632391, + 294.4502285433721, + 0.15127966338500443 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -572.4163813632391, + 291.85215233201876, + 0.15127966338500443 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -570.9163813632391, + 289.25407612066545, + 0.15127966338500443 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -569.4163813632391, + 286.65599990931213, + 0.15127966338500443 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -567.9163813632391, + 284.0579236979588, + 0.15127966338500443 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -566.4163813632391, + 281.4598474866055, + 0.15127966338500443 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -564.9163813632391, + 278.8617712752522, + 0.15127966338500443 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -563.4163813632391, + 276.26369506389887, + 0.15127966338500443 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -561.9163813632391, + 273.66561885254555, + 0.15127966338500443 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -560.4163813632391, + 271.06754264119223, + 0.15127966338500443 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -558.9163813632391, + 268.4694664298389, + 0.15127966338500443 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -557.4163813632391, + 265.8713902184856, + 0.15127966338500443 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -555.9163813632391, + 263.2733140071323, + 0.15127966338500443 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -554.4163813632391, + 260.67523779577897, + 0.15127966338500443 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -552.9163813632391, + 258.07716158442565, + 0.15127966338500443 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -551.4163813632391, + 255.47908537307234, + 0.15127966338500443 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -549.9163813632391, + 252.88100916171902, + 0.15127966338500443 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -548.4163813632391, + 250.2829329503657, + 0.15127966338500443 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -546.9163813632391, + 247.6848567390124, + 0.15127966338500443 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -546.9163813632391, + 247.6848567390124, + 0.15127966338500443 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -546.9163813632391, + 244.6848567390124, + 0.15127966338500443 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -546.9163813632391, + 241.6848567390124, + 0.15127966338500443 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -546.9163813632391, + 238.6848567390124, + 0.15127966338500443 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -546.9163813632391, + 235.6848567390124, + 0.15127966338500443 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -546.9163813632391, + 232.6848567390124, + 0.15127966338500443 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -546.9163813632391, + 229.6848567390124, + 0.15127966338500443 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -546.9163813632391, + 226.6848567390124, + 0.15127966338500443 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -546.9163813632391, + 223.6848567390124, + 0.15127966338500443 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -546.9163813632391, + 220.6848567390124, + 0.15127966338500443 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -546.9163813632391, + 217.6848567390124, + 0.15127966338500443 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -546.9163813632391, + 214.6848567390124, + 0.15127966338500443 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -546.9163813632391, + 211.6848567390124, + 0.15127966338500443 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -546.9163813632391, + 208.6848567390124, + 0.15127966338500443 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -546.9163813632391, + 205.6848567390124, + 0.15127966338500443 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -546.9163813632391, + 202.6848567390124, + 0.15127966338500443 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -547.9009985351562, + 200.65022193908692, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-13-49_854428386/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-13-49_854428386/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..affbd817c89e500eae66e25559839b5ddc1171da --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-13-49_854428386/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -943.9520197259699, + 449.52367637918144, + 2.574927789229937 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -945.4520197259699, + 446.9256001678281, + 2.574927789229937 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -946.9520197259699, + 444.3275239564748, + 2.574927789229937 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -948.4520197259699, + 441.7294477451215, + 2.574927789229937 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -949.9520197259699, + 439.1313715337682, + 2.574927789229937 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -951.4520197259699, + 436.53329532241486, + 2.574927789229937 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -952.9520197259699, + 433.93521911106154, + 2.574927789229937 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -954.4520197259699, + 431.3371428997082, + 2.574927789229937 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -955.9520197259699, + 428.7390666883549, + 2.574927789229937 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -957.4520197259699, + 426.1409904770016, + 2.574927789229937 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -958.9520197259699, + 423.5429142656483, + 2.574927789229937 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -960.4520197259699, + 420.94483805429496, + 2.574927789229937 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -961.9520197259699, + 418.34676184294165, + 2.574927789229937 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -963.4520197259699, + 415.74868563158833, + 2.574927789229937 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -964.9520197259699, + 413.150609420235, + 2.574927789229937 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -966.4520197259699, + 410.5525332088817, + 2.574927789229937 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -967.9520197259699, + 407.9544569975284, + 2.574927789229937 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -969.4520197259699, + 405.35638078617507, + 2.574927789229937 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -969.4520197259699, + 405.35638078617507, + 2.574927789229937 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -969.4520197259699, + 402.35638078617507, + 2.574927789229937 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -969.4520197259699, + 399.35638078617507, + 2.574927789229937 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -969.4520197259699, + 396.35638078617507, + 2.574927789229937 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -969.4520197259699, + 393.35638078617507, + 2.574927789229937 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -969.4520197259699, + 390.35638078617507, + 2.574927789229937 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -969.4520197259699, + 387.35638078617507, + 2.574927789229937 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -979.8297436523437, + 358.6925830078125, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-2-14_82095572/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-2-14_82095572/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9dae5f62f3557b730d4c7afbc8aab6978e19032d --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-2-14_82095572/pose.jsonl @@ -0,0 +1,222 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -863.677862921439, + 312.12326800889736, + -4.143116687262602 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -860.677862921439, + 312.12326800889736, + -4.143116687262602 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -857.677862921439, + 312.12326800889736, + -4.143116687262602 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -854.677862921439, + 312.12326800889736, + -4.143116687262602 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -851.677862921439, + 312.12326800889736, + -4.143116687262602 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -851.677862921439, + 312.12326800889736, + -4.143116687262602 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -849.0797867100857, + 310.62326800889736, + -4.143116687262602 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -846.4817104987324, + 309.12326800889736, + -4.143116687262602 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -843.883634287379, + 307.62326800889736, + -4.143116687262602 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -841.2855580760256, + 306.12326800889736, + -4.143116687262602 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -838.6874818646722, + 304.62326800889736, + -4.143116687262602 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -836.0894056533189, + 303.12326800889736, + -4.143116687262602 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -833.4913294419655, + 301.62326800889736, + -4.143116687262602 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -830.8932532306121, + 300.12326800889736, + -4.143116687262602 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -828.2951770192587, + 298.62326800889736, + -4.143116687262602 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -825.6971008079054, + 297.12326800889736, + -4.143116687262602 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -802.5129748535156, + 284.37975662231446, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-2-54_209854446/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-2-54_209854446/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..18132843beb135a3512d4a4dd9e1640a936bd002 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-2-54_209854446/pose.jsonl @@ -0,0 +1,430 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -18.2826699691808, + 27.72946604096176, + -2.383500168214046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -15.282669969180802, + 27.72946604096176, + -2.383500168214046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -12.282669969180802, + 27.72946604096176, + -2.383500168214046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -9.282669969180802, + 27.72946604096176, + -2.383500168214046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -6.282669969180802, + 27.72946604096176, + -2.383500168214046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -3.2826699691808017, + 27.72946604096176, + -2.383500168214046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -0.2826699691808017, + 27.72946604096176, + -2.383500168214046 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -0.2826699691808017, + 27.72946604096176, + -2.383500168214046 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2.3154062421725143, + 26.22946604096176, + -2.383500168214046 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4.91348245352583, + 24.72946604096176, + -2.383500168214046 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 7.511558664879146, + 23.22946604096176, + -2.383500168214046 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 10.109634876232462, + 21.72946604096176, + -2.383500168214046 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 12.707711087585778, + 20.22946604096176, + -2.383500168214046 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 15.305787298939094, + 18.72946604096176, + -2.383500168214046 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 17.90386351029241, + 17.22946604096176, + -2.383500168214046 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 20.501939721645726, + 15.72946604096176, + -2.383500168214046 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 23.100015932999042, + 14.22946604096176, + -2.383500168214046 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 25.69809214435236, + 12.72946604096176, + -2.383500168214046 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 28.296168355705674, + 11.22946604096176, + -2.383500168214046 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 30.89424456705899, + 9.72946604096176, + -2.383500168214046 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 33.49232077841231, + 8.22946604096176, + -2.383500168214046 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 36.09039698976562, + 6.729466040961761, + -2.383500168214046 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 38.68847320111894, + 5.229466040961761, + -2.383500168214046 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 41.286549412472255, + 3.7294660409617606, + -2.383500168214046 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 43.88462562382557, + 2.2294660409617606, + -2.383500168214046 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 46.48270183517889, + 0.7294660409617608, + -2.383500168214046 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 46.48270183517889, + 0.7294660409617608, + -2.383500168214046 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 47.98270183517889, + -1.8686101703915552, + -2.383500168214046 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 47.98270183517889, + -1.8686101703915552, + -2.383500168214046 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 50.5807780465322, + -3.368610170391555, + -2.383500168214046 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 53.17885425788552, + -4.8686101703915545, + -2.383500168214046 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982987 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 55.776930469238835, + -6.3686101703915545, + -2.383500168214046 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982987 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 56.6919751739502, + -8.754466934204101, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-25-39_1635654526/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-25-39_1635654526/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..512981c838ee36a75c03e85d843781092a143a6d --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-25-39_1635654526/pose.jsonl @@ -0,0 +1,417 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -836.3070888433276, + 494.22869112237544, + -4.5295270334605515 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -837.8070888433276, + 491.6306149110221, + -4.5295270334605515 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -839.3070888433276, + 489.0325386996688, + -4.5295270334605515 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -840.8070888433276, + 486.4344624883155, + -4.5295270334605515 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -842.3070888433276, + 483.8363862769622, + -4.5295270334605515 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -843.8070888433276, + 481.23831006560886, + -4.5295270334605515 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -845.3070888433276, + 478.64023385425554, + -4.5295270334605515 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -846.8070888433276, + 476.0421576429022, + -4.5295270334605515 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -848.3070888433276, + 473.4440814315489, + -4.5295270334605515 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -849.8070888433276, + 470.8460052201956, + -4.5295270334605515 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -851.3070888433276, + 468.2479290088423, + -4.5295270334605515 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -852.8070888433276, + 465.64985279748896, + -4.5295270334605515 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -854.3070888433276, + 463.05177658613565, + -4.5295270334605515 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -855.8070888433276, + 460.45370037478233, + -4.5295270334605515 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -857.3070888433276, + 457.855624163429, + -4.5295270334605515 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -858.8070888433276, + 455.2575479520757, + -4.5295270334605515 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -860.3070888433276, + 452.6594717407224, + -4.5295270334605515 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -861.8070888433276, + 450.06139552936907, + -4.5295270334605515 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -863.3070888433276, + 447.46331931801575, + -4.5295270334605515 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -864.8070888433276, + 444.86524310666243, + -4.5295270334605515 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -866.3070888433276, + 442.2671668953091, + -4.5295270334605515 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -867.8070888433276, + 439.6690906839558, + -4.5295270334605515 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -869.3070888433276, + 437.0710144726025, + -4.5295270334605515 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -870.8070888433276, + 434.47293826124917, + -4.5295270334605515 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -872.3070888433276, + 431.87486204989585, + -4.5295270334605515 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -873.8070888433276, + 429.27678583854254, + -4.5295270334605515 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -875.3070888433276, + 426.6787096271892, + -4.5295270334605515 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -876.8070888433276, + 424.0806334158359, + -4.5295270334605515 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -876.8070888433276, + 424.0806334158359, + -4.5295270334605515 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -879.405165054681, + 422.5806334158359, + -4.5295270334605515 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -882.0032412660344, + 421.0806334158359, + -4.5295270334605515 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -884.2225183105469, + 417.81855880737305, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-27-15_1845207433/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-27-15_1845207433/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..433230b0cede4d621d33686ca95df2cd9eacad6a --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-27-15_1845207433/pose.jsonl @@ -0,0 +1,547 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 370.13960454889684, + 465.11757900981195, + -2.868962881708005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 371.63960454889684, + 467.71565522116526, + -2.868962881708005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 373.13960454889684, + 470.3137314325186, + -2.868962881708005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 374.63960454889684, + 472.9118076438719, + -2.868962881708005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 376.13960454889684, + 475.5098838552252, + -2.868962881708005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 377.63960454889684, + 478.1079600665785, + -2.868962881708005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 379.13960454889684, + 480.70603627793184, + -2.868962881708005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 380.63960454889684, + 483.30411248928516, + -2.868962881708005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 382.13960454889684, + 485.9021887006385, + -2.868962881708005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 383.63960454889684, + 488.5002649119918, + -2.868962881708005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 385.13960454889684, + 491.0983411233451, + -2.868962881708005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 386.63960454889684, + 493.6964173346984, + -2.868962881708005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 388.13960454889684, + 496.29449354605174, + -2.868962881708005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 389.63960454889684, + 498.89256975740506, + -2.868962881708005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 391.13960454889684, + 501.4906459687584, + -2.868962881708005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 392.63960454889684, + 504.0887221801117, + -2.868962881708005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 394.13960454889684, + 506.686798391465, + -2.868962881708005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 395.63960454889684, + 509.2848746028183, + -2.868962881708005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 397.13960454889684, + 511.88295081417164, + -2.868962881708005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 398.63960454889684, + 514.481027025525, + -2.868962881708005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 400.13960454889684, + 517.0791032368784, + -2.868962881708005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 401.63960454889684, + 519.6771794482318, + -2.868962881708005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 403.13960454889684, + 522.2752556595851, + -2.868962881708005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 404.63960454889684, + 524.8733318709385, + -2.868962881708005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 406.13960454889684, + 527.4714080822919, + -2.868962881708005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 407.63960454889684, + 530.0694842936452, + -2.868962881708005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 409.13960454889684, + 532.6675605049986, + -2.868962881708005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 410.63960454889684, + 535.265636716352, + -2.868962881708005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 412.13960454889684, + 537.8637129277054, + -2.868962881708005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 413.63960454889684, + 540.4617891390587, + -2.868962881708005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 415.13960454889684, + 543.0598653504121, + -2.868962881708005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 416.63960454889684, + 545.6579415617655, + -2.868962881708005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 418.13960454889684, + 548.2560177731189, + -2.868962881708005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 419.63960454889684, + 550.8540939844722, + -2.868962881708005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 421.13960454889684, + 553.4521701958256, + -2.868962881708005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 422.63960454889684, + 556.050246407179, + -2.868962881708005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 424.13960454889684, + 558.6483226185323, + -2.868962881708005 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 424.13960454889684, + 558.6483226185323, + -2.868962881708005 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 426.73768076025016, + 560.1483226185323, + -2.868962881708005 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 429.3357569716035, + 561.6483226185323, + -2.868962881708005 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 431.9338331829568, + 563.1483226185323, + -2.868962881708005 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 434.03729019165036, + 563.8867979431152, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-29-36_1354575023/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-29-36_1354575023/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..26e9ebc19128a54206f15825d18ee5e137fccdee --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-29-36_1354575023/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -638.3773202665811, + 249.2917311019822, + -4.81057149516934 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -641.3773202665811, + 249.2917311019822, + -4.81057149516934 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -644.3773202665811, + 249.2917311019822, + -4.81057149516934 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -647.3773202665811, + 249.2917311019822, + -4.81057149516934 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -650.3773202665811, + 249.2917311019822, + -4.81057149516934 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -653.3773202665811, + 249.2917311019822, + -4.81057149516934 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -656.3773202665811, + 249.2917311019822, + -4.81057149516934 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -659.3773202665811, + 249.2917311019822, + -4.81057149516934 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -662.3773202665811, + 249.2917311019822, + -4.81057149516934 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -665.3773202665811, + 249.2917311019822, + -4.81057149516934 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -668.3773202665811, + 249.2917311019822, + -4.81057149516934 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -671.3773202665811, + 249.2917311019822, + -4.81057149516934 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -674.3773202665811, + 249.2917311019822, + -4.81057149516934 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -677.3773202665811, + 249.2917311019822, + -4.81057149516934 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -680.3773202665811, + 249.2917311019822, + -4.81057149516934 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -683.3773202665811, + 249.2917311019822, + -4.81057149516934 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -683.3773202665811, + 249.2917311019822, + -4.81057149516934 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -685.9753964779345, + 247.7917311019822, + -4.81057149516934 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -688.5734726892879, + 246.2917311019822, + -4.81057149516934 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -691.1715489006413, + 244.7917311019822, + -4.81057149516934 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -693.7696251119946, + 243.2917311019822, + -4.81057149516934 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -696.367701323348, + 241.7917311019822, + -4.81057149516934 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -698.9657775347014, + 240.2917311019822, + -4.81057149516934 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -701.6309753417969, + 238.16310417175293, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-29-7_148214896/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-29-7_148214896/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4362bde18b13b880021940a4215470df0bbf9cc3 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-29-7_148214896/pose.jsonl @@ -0,0 +1,274 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -978.5697715286144, + 300.27133846462016, + 4.76954216884835 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -978.5697715286144, + 297.27133846462016, + 4.76954216884835 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -978.5697715286144, + 294.27133846462016, + 4.76954216884835 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -978.5697715286144, + 291.27133846462016, + 4.76954216884835 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -978.5697715286144, + 288.27133846462016, + 4.76954216884835 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -978.5697715286144, + 285.27133846462016, + 4.76954216884835 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -978.5697715286144, + 282.27133846462016, + 4.76954216884835 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -978.5697715286144, + 279.27133846462016, + 4.76954216884835 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -978.5697715286144, + 276.27133846462016, + 4.76954216884835 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -978.5697715286144, + 273.27133846462016, + 4.76954216884835 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -978.5697715286144, + 270.27133846462016, + 4.76954216884835 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -978.5697715286144, + 267.27133846462016, + 4.76954216884835 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -978.5697715286144, + 264.27133846462016, + 4.76954216884835 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -978.5697715286144, + 261.27133846462016, + 4.76954216884835 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -978.5697715286144, + 258.27133846462016, + 4.76954216884835 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -978.5697715286144, + 255.27133846462016, + 4.76954216884835 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -978.5697715286144, + 252.27133846462016, + 4.76954216884835 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -978.5697715286144, + 249.27133846462016, + 4.76954216884835 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -978.5697715286144, + 246.27133846462016, + 4.76954216884835 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -978.5697715286144, + 243.27133846462016, + 4.76954216884835 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -978.6087219238281, + 239.76509559631347, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-36-3_619175679/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-36-3_619175679/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b71597437015b21cd0cf9fa3a8210b1f47cf5606 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-36-3_619175679/pose.jsonl @@ -0,0 +1,547 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -589.2327580852574, + 248.83168102162256, + 2.2170597379859016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -592.2327580852574, + 248.83168102162256, + 2.2170597379859016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -595.2327580852574, + 248.83168102162256, + 2.2170597379859016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -598.2327580852574, + 248.83168102162256, + 2.2170597379859016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -601.2327580852574, + 248.83168102162256, + 2.2170597379859016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -604.2327580852574, + 248.83168102162256, + 2.2170597379859016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -607.2327580852574, + 248.83168102162256, + 2.2170597379859016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -610.2327580852574, + 248.83168102162256, + 2.2170597379859016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -613.2327580852574, + 248.83168102162256, + 2.2170597379859016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -616.2327580852574, + 248.83168102162256, + 2.2170597379859016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -619.2327580852574, + 248.83168102162256, + 2.2170597379859016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -622.2327580852574, + 248.83168102162256, + 2.2170597379859016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -625.2327580852574, + 248.83168102162256, + 2.2170597379859016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -628.2327580852574, + 248.83168102162256, + 2.2170597379859016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -631.2327580852574, + 248.83168102162256, + 2.2170597379859016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -634.2327580852574, + 248.83168102162256, + 2.2170597379859016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -637.2327580852574, + 248.83168102162256, + 2.2170597379859016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -640.2327580852574, + 248.83168102162256, + 2.2170597379859016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -643.2327580852574, + 248.83168102162256, + 2.2170597379859016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -646.2327580852574, + 248.83168102162256, + 2.2170597379859016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -649.2327580852574, + 248.83168102162256, + 2.2170597379859016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -652.2327580852574, + 248.83168102162256, + 2.2170597379859016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -655.2327580852574, + 248.83168102162256, + 2.2170597379859016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -658.2327580852574, + 248.83168102162256, + 2.2170597379859016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -661.2327580852574, + 248.83168102162256, + 2.2170597379859016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -664.2327580852574, + 248.83168102162256, + 2.2170597379859016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -667.2327580852574, + 248.83168102162256, + 2.2170597379859016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -670.2327580852574, + 248.83168102162256, + 2.2170597379859016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -673.2327580852574, + 248.83168102162256, + 2.2170597379859016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -676.2327580852574, + 248.83168102162256, + 2.2170597379859016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -679.2327580852574, + 248.83168102162256, + 2.2170597379859016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -682.2327580852574, + 248.83168102162256, + 2.2170597379859016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -685.2327580852574, + 248.83168102162256, + 2.2170597379859016 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -685.2327580852574, + 248.83168102162256, + 2.2170597379859016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -687.8308342966106, + 247.33168102162256, + 2.2170597379859016 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -690.428910507964, + 245.83168102162256, + 2.2170597379859016 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -693.0269867193174, + 244.33168102162256, + 2.2170597379859016 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -695.6250629306708, + 242.83168102162256, + 2.2170597379859016 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -698.2231391420241, + 241.33168102162256, + 2.2170597379859016 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -700.8212153533775, + 239.83168102162256, + 2.2170597379859016 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -703.4192915647309, + 238.33168102162256, + 2.2170597379859016 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -707.2679043579102, + 238.37122535705566, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-38-38_1381543847/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-38-38_1381543847/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9460b8291a46989900a1c8c2347dab1b03000550 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-38-38_1381543847/pose.jsonl @@ -0,0 +1,521 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -953.6684060916975, + 174.66249933023897, + -0.6469434327280226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -955.1684060916975, + 177.2605755415923, + -0.6469434327280226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -956.6684060916975, + 179.8586517529456, + -0.6469434327280226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -958.1684060916975, + 182.45672796429892, + -0.6469434327280226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -959.6684060916975, + 185.05480417565224, + -0.6469434327280226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -961.1684060916975, + 187.65288038700555, + -0.6469434327280226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -962.6684060916975, + 190.25095659835887, + -0.6469434327280226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -964.1684060916975, + 192.84903280971218, + -0.6469434327280226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -965.6684060916975, + 195.4471090210655, + -0.6469434327280226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -967.1684060916975, + 198.04518523241882, + -0.6469434327280226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -968.6684060916975, + 200.64326144377213, + -0.6469434327280226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -970.1684060916975, + 203.24133765512545, + -0.6469434327280226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -971.6684060916975, + 205.83941386647876, + -0.6469434327280226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -973.1684060916975, + 208.43749007783208, + -0.6469434327280226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -974.6684060916975, + 211.0355662891854, + -0.6469434327280226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -976.1684060916975, + 213.6336425005387, + -0.6469434327280226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -977.6684060916975, + 216.23171871189203, + -0.6469434327280226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -979.1684060916975, + 218.82979492324534, + -0.6469434327280226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -980.6684060916975, + 221.42787113459866, + -0.6469434327280226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -982.1684060916975, + 224.02594734595198, + -0.6469434327280226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -983.6684060916975, + 226.6240235573053, + -0.6469434327280226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -985.1684060916975, + 229.2220997686586, + -0.6469434327280226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -986.6684060916975, + 231.82017598001192, + -0.6469434327280226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -988.1684060916975, + 234.41825219136524, + -0.6469434327280226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -989.6684060916975, + 237.01632840271856, + -0.6469434327280226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -991.1684060916975, + 239.61440461407187, + -0.6469434327280226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -992.6684060916975, + 242.2124808254252, + -0.6469434327280226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -994.1684060916975, + 244.8105570367785, + -0.6469434327280226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -995.6684060916975, + 247.40863324813182, + -0.6469434327280226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -997.1684060916975, + 250.00670945948514, + -0.6469434327280226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -998.6684060916975, + 252.60478567083845, + -0.6469434327280226 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -998.6684060916975, + 252.60478567083845, + -0.6469434327280226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -998.6684060916975, + 255.60478567083845, + -0.6469434327280226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -998.6684060916975, + 258.60478567083845, + -0.6469434327280226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -998.6684060916975, + 261.60478567083845, + -0.6469434327280226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -998.6684060916975, + 264.60478567083845, + -0.6469434327280226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -998.6684060916975, + 267.60478567083845, + -0.6469434327280226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -998.6684060916975, + 270.60478567083845, + -0.6469434327280226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -998.6684060916975, + 273.60478567083845, + -0.6469434327280226 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1002.9734149169922, + 277.3824105834961, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-38-56_1742853661/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-38-56_1742853661/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2bfc6007160532b3851ffef8352401ce09dbc17e --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-38-56_1742853661/pose.jsonl @@ -0,0 +1,404 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 454.7933187876657, + 482.50053720399734, + -2.688780401187859 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 454.7933187876657, + 485.50053720399734, + -2.688780401187859 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 454.7933187876657, + 488.50053720399734, + -2.688780401187859 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 454.7933187876657, + 491.50053720399734, + -2.688780401187859 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 454.7933187876657, + 494.50053720399734, + -2.688780401187859 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 454.7933187876657, + 497.50053720399734, + -2.688780401187859 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 454.7933187876657, + 500.50053720399734, + -2.688780401187859 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 454.7933187876657, + 503.50053720399734, + -2.688780401187859 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 454.7933187876657, + 506.50053720399734, + -2.688780401187859 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 454.7933187876657, + 509.50053720399734, + -2.688780401187859 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 454.7933187876657, + 512.5005372039973, + -2.688780401187859 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 454.7933187876657, + 515.5005372039973, + -2.688780401187859 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 454.7933187876657, + 518.5005372039973, + -2.688780401187859 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 454.7933187876657, + 521.5005372039973, + -2.688780401187859 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 454.7933187876657, + 524.5005372039973, + -2.688780401187859 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 454.7933187876657, + 527.5005372039973, + -2.688780401187859 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 454.7933187876657, + 530.5005372039973, + -2.688780401187859 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 454.7933187876657, + 530.5005372039973, + -2.688780401187859 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 453.2933187876657, + 533.0986134153507, + -2.688780401187859 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 451.7933187876657, + 535.696689626704, + -2.688780401187859 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 450.2933187876657, + 538.2947658380574, + -2.688780401187859 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 448.7933187876657, + 540.8928420494108, + -2.688780401187859 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 447.2933187876657, + 543.4909182607641, + -2.688780401187859 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 445.7933187876657, + 546.0889944721175, + -2.688780401187859 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 444.2933187876657, + 548.6870706834709, + -2.688780401187859 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 442.7933187876657, + 551.2851468948243, + -2.688780401187859 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 441.2933187876657, + 553.8832231061776, + -2.688780401187859 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 439.7933187876657, + 556.481299317531, + -2.688780401187859 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 439.7933187876657, + 556.481299317531, + -2.688780401187859 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 439.7933187876657, + 559.481299317531, + -2.688780401187859 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948872 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 439.84950744628907, + 563.3985629272461, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-39-12_747040077/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-39-12_747040077/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0dcabc8d26017dd2f8744f44c3c5639d011b998e --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-39-12_747040077/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -920.0071234248805, + 220.32286009053539, + 4.403457561870921 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -922.6051996362339, + 221.82286009053539, + 4.403457561870921 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -925.2032758475873, + 223.32286009053539, + 4.403457561870921 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -927.8013520589407, + 224.82286009053539, + 4.403457561870921 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -930.399428270294, + 226.32286009053539, + 4.403457561870921 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -932.9975044816474, + 227.82286009053539, + 4.403457561870921 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -935.5955806930008, + 229.32286009053539, + 4.403457561870921 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -938.1936569043542, + 230.82286009053539, + 4.403457561870921 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -940.7917331157075, + 232.32286009053539, + 4.403457561870921 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -943.3898093270609, + 233.82286009053539, + 4.403457561870921 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -945.9878855384143, + 235.32286009053539, + 4.403457561870921 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -948.5859617497676, + 236.82286009053539, + 4.403457561870921 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -948.5859617497676, + 236.82286009053539, + 4.403457561870921 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -951.5859617497676, + 236.82286009053539, + 4.403457561870921 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -954.5859617497676, + 236.82286009053539, + 4.403457561870921 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -957.5859617497676, + 236.82286009053539, + 4.403457561870921 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -960.5859617497676, + 236.82286009053539, + 4.403457561870921 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -963.5859617497676, + 236.82286009053539, + 4.403457561870921 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -966.5859617497676, + 236.82286009053539, + 4.403457561870921 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -969.5859617497676, + 236.82286009053539, + 4.403457561870921 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -972.5859617497676, + 236.82286009053539, + 4.403457561870921 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -972.5859617497676, + 236.82286009053539, + 4.403457561870921 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -975.184037961121, + 238.32286009053539, + 4.403457561870921 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -978.6087219238281, + 239.76509559631347, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-4-30_2120131589/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-4-30_2120131589/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bf674b1f03a1ba13480e8abdd3d6e7550359c5ca --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-4-30_2120131589/pose.jsonl @@ -0,0 +1,495 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -986.1921871674176, + 224.0241029868838, + -1.2921877686596668 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -986.1921871674176, + 227.0241029868838, + -1.2921877686596668 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -986.1921871674176, + 230.0241029868838, + -1.2921877686596668 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -986.1921871674176, + 233.0241029868838, + -1.2921877686596668 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -986.1921871674176, + 236.0241029868838, + -1.2921877686596668 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -986.1921871674176, + 239.0241029868838, + -1.2921877686596668 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -986.1921871674176, + 242.0241029868838, + -1.2921877686596668 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -986.1921871674176, + 245.0241029868838, + -1.2921877686596668 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -986.1921871674176, + 248.0241029868838, + -1.2921877686596668 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -986.1921871674176, + 251.0241029868838, + -1.2921877686596668 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -986.1921871674176, + 254.0241029868838, + -1.2921877686596668 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -986.1921871674176, + 257.0241029868838, + -1.2921877686596668 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -986.1921871674176, + 260.0241029868838, + -1.2921877686596668 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -986.1921871674176, + 263.0241029868838, + -1.2921877686596668 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -986.1921871674176, + 266.0241029868838, + -1.2921877686596668 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -986.1921871674176, + 269.0241029868838, + -1.2921877686596668 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -986.1921871674176, + 272.0241029868838, + -1.2921877686596668 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -986.1921871674176, + 275.0241029868838, + -1.2921877686596668 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -986.1921871674176, + 278.0241029868838, + -1.2921877686596668 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -986.1921871674176, + 281.0241029868838, + -1.2921877686596668 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -986.1921871674176, + 284.0241029868838, + -1.2921877686596668 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -986.1921871674176, + 287.0241029868838, + -1.2921877686596668 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -986.1921871674176, + 290.0241029868838, + -1.2921877686596668 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -986.1921871674176, + 293.0241029868838, + -1.2921877686596668 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -986.1921871674176, + 296.0241029868838, + -1.2921877686596668 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -986.1921871674176, + 299.0241029868838, + -1.2921877686596668 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -986.1921871674176, + 302.0241029868838, + -1.2921877686596668 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -986.1921871674176, + 302.0241029868838, + -1.2921877686596668 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -987.6921871674176, + 304.6221791982371, + -1.2921877686596668 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -989.1921871674176, + 307.22025540959044, + -1.2921877686596668 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -990.6921871674176, + 309.81833162094375, + -1.2921877686596668 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -992.1921871674176, + 312.41640783229707, + -1.2921877686596668 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -993.6921871674176, + 315.0144840436504, + -1.2921877686596668 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -995.1921871674176, + 317.6125602550037, + -1.2921877686596668 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -996.6921871674176, + 320.210636466357, + -1.2921877686596668 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -998.1921871674176, + 322.80871267771033, + -1.2921877686596668 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -999.6921871674176, + 325.40678888906365, + -1.2921877686596668 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1001.9772616577148, + 339.91288177490236, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-40-6_1032636498/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-40-6_1032636498/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a36e4459f5c831f14b669178e66b71ae03ed4d66 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-40-6_1032636498/pose.jsonl @@ -0,0 +1,417 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -298.8868804881113, + -78.13606641737292, + 1.3614042446253327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -297.3868804881113, + -75.5379902060196, + 1.3614042446253327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -295.8868804881113, + -72.93991399466628, + 1.3614042446253327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -294.3868804881113, + -70.34183778331297, + 1.3614042446253327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -292.8868804881113, + -67.74376157195965, + 1.3614042446253327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -291.3868804881113, + -65.14568536060634, + 1.3614042446253327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -289.8868804881113, + -62.54760914925302, + 1.3614042446253327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -288.3868804881113, + -59.949532937899704, + 1.3614042446253327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -286.8868804881113, + -57.35145672654639, + 1.3614042446253327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -285.3868804881113, + -54.75338051519307, + 1.3614042446253327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -283.8868804881113, + -52.155304303839756, + 1.3614042446253327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -282.3868804881113, + -49.55722809248644, + 1.3614042446253327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -280.8868804881113, + -46.959151881133124, + 1.3614042446253327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -279.3868804881113, + -44.36107566977981, + 1.3614042446253327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -277.8868804881113, + -41.76299945842649, + 1.3614042446253327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -276.3868804881113, + -39.164923247073176, + 1.3614042446253327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -274.8868804881113, + -36.56684703571986, + 1.3614042446253327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -273.3868804881113, + -33.968770824366544, + 1.3614042446253327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -271.8868804881113, + -31.370694613013228, + 1.3614042446253327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -270.3868804881113, + -28.772618401659912, + 1.3614042446253327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -268.8868804881113, + -26.174542190306596, + 1.3614042446253327 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -268.8868804881113, + -26.174542190306596, + 1.3614042446253327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -266.28880427675796, + -24.674542190306596, + 1.3614042446253327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -263.69072806540464, + -23.174542190306596, + 1.3614042446253327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -261.0926518540513, + -21.674542190306596, + 1.3614042446253327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -258.494575642698, + -20.174542190306596, + 1.3614042446253327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -255.8964994313447, + -18.674542190306596, + 1.3614042446253327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -253.29842321999138, + -17.174542190306596, + 1.3614042446253327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -250.70034700863806, + -15.674542190306596, + 1.3614042446253327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -248.10227079728475, + -14.174542190306596, + 1.3614042446253327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -245.50419458593143, + -12.674542190306596, + 1.3614042446253327 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -242.29689208984374, + -10.230338129997254, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-41-46_570240349/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-41-46_570240349/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d4ab987c98ab45e3e93523c1ccaa609f8b986365 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-41-46_570240349/pose.jsonl @@ -0,0 +1,170 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 480.9331840294049, + 305.0592743781036, + -2.2313677655647988 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 483.9331840294049, + 305.0592743781036, + -2.2313677655647988 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 486.9331840294049, + 305.0592743781036, + -2.2313677655647988 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 489.9331840294049, + 305.0592743781036, + -2.2313677655647988 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 489.9331840294049, + 305.0592743781036, + -2.2313677655647988 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 489.9331840294049, + 305.0592743781036, + -2.2313677655647988 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 491.4331840294049, + 302.4611981667503, + -2.2313677655647988 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 492.9331840294049, + 299.863121955397, + -2.2313677655647988 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 494.4331840294049, + 297.2650457440437, + -2.2313677655647988 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 494.4331840294049, + 297.2650457440437, + -2.2313677655647988 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 497.03126024075823, + 295.7650457440437, + -2.2313677655647988 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 499.62933645211154, + 294.2650457440437, + -2.2313677655647988 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 583.5565863037109, + 244.7667236328125, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-45-4_1140082830/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-45-4_1140082830/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..27c468642bf07ca23f274775ca548c67c88bba4c --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-45-4_1140082830/pose.jsonl @@ -0,0 +1,391 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -221.8809276967471, + -400.08151499023364, + -2.307759186643174 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -223.3809276967471, + -402.67959120158696, + -2.307759186643174 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -224.8809276967471, + -405.2776674129403, + -2.307759186643174 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -226.3809276967471, + -407.8757436242936, + -2.307759186643174 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -227.8809276967471, + -410.4738198356469, + -2.307759186643174 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -229.3809276967471, + -413.0718960470002, + -2.307759186643174 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -230.8809276967471, + -415.66997225835354, + -2.307759186643174 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -232.3809276967471, + -418.26804846970686, + -2.307759186643174 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -233.8809276967471, + -420.86612468106017, + -2.307759186643174 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -235.3809276967471, + -423.4642008924135, + -2.307759186643174 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -236.8809276967471, + -426.0622771037668, + -2.307759186643174 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -238.3809276967471, + -428.6603533151201, + -2.307759186643174 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -239.8809276967471, + -431.25842952647344, + -2.307759186643174 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -241.3809276967471, + -433.85650573782675, + -2.307759186643174 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -242.8809276967471, + -436.45458194918007, + -2.307759186643174 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -244.3809276967471, + -439.0526581605334, + -2.307759186643174 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -245.8809276967471, + -441.6507343718867, + -2.307759186643174 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -247.3809276967471, + -444.24881058324, + -2.307759186643174 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -248.8809276967471, + -446.84688679459333, + -2.307759186643174 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -250.3809276967471, + -449.44496300594665, + -2.307759186643174 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -251.8809276967471, + -452.04303921729996, + -2.307759186643174 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -253.3809276967471, + -454.6411154286533, + -2.307759186643174 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -253.3809276967471, + -454.6411154286533, + -2.307759186643174 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -255.97900390810042, + -456.1411154286533, + -2.307759186643174 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -258.57708011945374, + -457.6411154286533, + -2.307759186643174 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -261.17515633080706, + -459.1411154286533, + -2.307759186643174 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -263.7732325421604, + -460.6411154286533, + -2.307759186643174 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -266.3713087535137, + -462.1411154286533, + -2.307759186643174 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -268.969384964867, + -463.6411154286533, + -2.307759186643174 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -270.6246540832519, + -464.87673126220704, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-50-25_1690815424/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-50-25_1690815424/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b045f5047bdb375f1111e500cd3d63dfb93e2d83 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-50-25_1690815424/pose.jsonl @@ -0,0 +1,417 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -638.158610742901, + 178.51850592409647, + 4.70041324339237 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -640.7566869542543, + 180.01850592409647, + 4.70041324339237 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -643.3547631656077, + 181.51850592409647, + 4.70041324339237 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -645.952839376961, + 183.01850592409647, + 4.70041324339237 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -648.5509155883144, + 184.51850592409647, + 4.70041324339237 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -651.1489917996678, + 186.01850592409647, + 4.70041324339237 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -653.7470680110212, + 187.51850592409647, + 4.70041324339237 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -656.3451442223745, + 189.01850592409647, + 4.70041324339237 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -658.9432204337279, + 190.51850592409647, + 4.70041324339237 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -661.5412966450813, + 192.01850592409647, + 4.70041324339237 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -664.1393728564346, + 193.51850592409647, + 4.70041324339237 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -666.737449067788, + 195.01850592409647, + 4.70041324339237 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -669.3355252791414, + 196.51850592409647, + 4.70041324339237 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -671.9336014904948, + 198.01850592409647, + 4.70041324339237 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -674.5316777018481, + 199.51850592409647, + 4.70041324339237 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -677.1297539132015, + 201.01850592409647, + 4.70041324339237 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -679.7278301245549, + 202.51850592409647, + 4.70041324339237 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -682.3259063359083, + 204.01850592409647, + 4.70041324339237 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -684.9239825472616, + 205.51850592409647, + 4.70041324339237 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -687.522058758615, + 207.01850592409647, + 4.70041324339237 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -690.1201349699684, + 208.51850592409647, + 4.70041324339237 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -692.7182111813217, + 210.01850592409647, + 4.70041324339237 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -695.3162873926751, + 211.51850592409647, + 4.70041324339237 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -697.9143636040285, + 213.01850592409647, + 4.70041324339237 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -700.5124398153819, + 214.51850592409647, + 4.70041324339237 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -703.1105160267352, + 216.01850592409647, + 4.70041324339237 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -705.7085922380886, + 217.51850592409647, + 4.70041324339237 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -708.306668449442, + 219.01850592409647, + 4.70041324339237 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -710.9047446607954, + 220.51850592409647, + 4.70041324339237 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -713.5028208721487, + 222.01850592409647, + 4.70041324339237 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -716.1008970835021, + 223.51850592409647, + 4.70041324339237 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -719.2420056152343, + 225.9435828399658, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-57-0_1452573032/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-57-0_1452573032/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f31ef4ce427280845750c5138d175dd9e3db8adf --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-57-0_1452573032/pose.jsonl @@ -0,0 +1,300 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -710.0191742581626, + 35.98914968906153, + -4.629224385503831 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -713.0191742581626, + 35.98914968906153, + -4.629224385503831 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -716.0191742581626, + 35.98914968906153, + -4.629224385503831 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -719.0191742581626, + 35.98914968906153, + -4.629224385503831 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -722.0191742581626, + 35.98914968906153, + -4.629224385503831 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -725.0191742581626, + 35.98914968906153, + -4.629224385503831 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -728.0191742581626, + 35.98914968906153, + -4.629224385503831 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -731.0191742581626, + 35.98914968906153, + -4.629224385503831 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -734.0191742581626, + 35.98914968906153, + -4.629224385503831 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -737.0191742581626, + 35.98914968906153, + -4.629224385503831 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -740.0191742581626, + 35.98914968906153, + -4.629224385503831 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -740.0191742581626, + 35.98914968906153, + -4.629224385503831 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -742.617250469516, + 37.48914968906153, + -4.629224385503831 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -745.2153266808693, + 38.98914968906153, + -4.629224385503831 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -747.8134028922227, + 40.48914968906153, + -4.629224385503831 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -750.4114791035761, + 41.98914968906153, + -4.629224385503831 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -753.0095553149295, + 43.48914968906153, + -4.629224385503831 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -755.6076315262828, + 44.98914968906153, + -4.629224385503831 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -758.2057077376362, + 46.48914968906153, + -4.629224385503831 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -760.8037839489896, + 47.98914968906153, + -4.629224385503831 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -763.401860160343, + 49.48914968906153, + -4.629224385503831 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -765.9999363716963, + 50.98914968906153, + -4.629224385503831 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -768.8232287597656, + 49.617736358642574, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-57-43_259322902/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-57-43_259322902/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..559fce949e42f69cacb410f9fe1188bcd1e817c5 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-57-43_259322902/pose.jsonl @@ -0,0 +1,560 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -285.7984743999579, + -132.27810110483668, + 4.088527272656675 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -288.3965506113112, + -133.77810110483668, + 4.088527272656675 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -290.99462682266454, + -135.27810110483668, + 4.088527272656675 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -293.59270303401786, + -136.77810110483668, + 4.088527272656675 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -296.1907792453712, + -138.27810110483668, + 4.088527272656675 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -298.7888554567245, + -139.77810110483668, + 4.088527272656675 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -301.3869316680778, + -141.27810110483668, + 4.088527272656675 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -303.9850078794311, + -142.77810110483668, + 4.088527272656675 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -306.58308409078444, + -144.27810110483668, + 4.088527272656675 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -309.18116030213776, + -145.77810110483668, + 4.088527272656675 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -311.77923651349107, + -147.27810110483668, + 4.088527272656675 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -314.3773127248444, + -148.77810110483668, + 4.088527272656675 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -316.9753889361977, + -150.27810110483668, + 4.088527272656675 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -319.573465147551, + -151.77810110483668, + 4.088527272656675 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -322.17154135890434, + -153.27810110483668, + 4.088527272656675 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -324.76961757025765, + -154.77810110483668, + 4.088527272656675 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -327.36769378161097, + -156.27810110483668, + 4.088527272656675 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -329.9657699929643, + -157.77810110483668, + 4.088527272656675 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -332.5638462043176, + -159.27810110483668, + 4.088527272656675 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -335.1619224156709, + -160.77810110483668, + 4.088527272656675 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -337.75999862702423, + -162.27810110483668, + 4.088527272656675 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -340.35807483837755, + -163.77810110483668, + 4.088527272656675 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -342.95615104973086, + -165.27810110483668, + 4.088527272656675 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -345.5542272610842, + -166.77810110483668, + 4.088527272656675 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -348.1523034724375, + -168.27810110483668, + 4.088527272656675 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -350.7503796837908, + -169.77810110483668, + 4.088527272656675 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -353.3484558951441, + -171.27810110483668, + 4.088527272656675 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -355.94653210649744, + -172.77810110483668, + 4.088527272656675 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -358.54460831785076, + -174.27810110483668, + 4.088527272656675 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -361.1426845292041, + -175.77810110483668, + 4.088527272656675 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -363.7407607405574, + -177.27810110483668, + 4.088527272656675 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -363.7407607405574, + -177.27810110483668, + 4.088527272656675 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -366.7407607405574, + -177.27810110483668, + 4.088527272656675 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -369.7407607405574, + -177.27810110483668, + 4.088527272656675 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -372.7407607405574, + -177.27810110483668, + 4.088527272656675 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -375.7407607405574, + -177.27810110483668, + 4.088527272656675 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -378.7407607405574, + -177.27810110483668, + 4.088527272656675 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -381.7407607405574, + -177.27810110483668, + 4.088527272656675 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -384.7407607405574, + -177.27810110483668, + 4.088527272656675 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -387.7407607405574, + -177.27810110483668, + 4.088527272656675 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -390.7407607405574, + -177.27810110483668, + 4.088527272656675 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -393.7407607405574, + -177.27810110483668, + 4.088527272656675 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -395.0994828796387, + -178.58960372924804, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-8-38_554472058/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-8-38_554472058/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6b0d0487779b9fdfa604bd033ac781a32c6e32c1 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-8-38_554472058/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -730.4712757945797, + 266.3765845502589, + 4.555586353230588 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -727.4712757945797, + 266.3765845502589, + 4.555586353230588 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -724.4712757945797, + 266.3765845502589, + 4.555586353230588 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -721.4712757945797, + 266.3765845502589, + 4.555586353230588 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -718.4712757945797, + 266.3765845502589, + 4.555586353230588 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -715.4712757945797, + 266.3765845502589, + 4.555586353230588 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -712.4712757945797, + 266.3765845502589, + 4.555586353230588 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -709.4712757945797, + 266.3765845502589, + 4.555586353230588 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -706.4712757945797, + 266.3765845502589, + 4.555586353230588 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -703.4712757945797, + 266.3765845502589, + 4.555586353230588 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -700.4712757945797, + 266.3765845502589, + 4.555586353230588 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -697.4712757945797, + 266.3765845502589, + 4.555586353230588 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -694.4712757945797, + 266.3765845502589, + 4.555586353230588 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -694.4712757945797, + 266.3765845502589, + 4.555586353230588 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -691.8731995832263, + 267.8765845502589, + 4.555586353230588 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -689.275123371873, + 269.3765845502589, + 4.555586353230588 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -686.6770471605196, + 270.8765845502589, + 4.555586353230588 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -684.0789709491662, + 272.3765845502589, + 4.555586353230588 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -681.4808947378128, + 273.8765845502589, + 4.555586353230588 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -681.4808947378128, + 273.8765845502589, + 4.555586353230588 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -678.4808947378128, + 273.8765845502589, + 4.555586353230588 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -675.4808947378128, + 273.8765845502589, + 4.555586353230588 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -672.4808947378128, + 273.8765845502589, + 4.555586353230588 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -669.1686190795898, + 276.07490257263186, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_8-11-10_1176924347/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_8-11-10_1176924347/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a039bfd6c38733309d5fd9b83e17ad92fc4aaf10 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_8-11-10_1176924347/pose.jsonl @@ -0,0 +1,92 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 483.6012522530834, + 234.57624447113838, + -0.5519097522035734 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 486.6012522530834, + 234.57624447113838, + -0.5519097522035734 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 489.6012522530834, + 234.57624447113838, + -0.5519097522035734 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 492.6012522530834, + 234.57624447113838, + -0.5519097522035734 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 495.6012522530834, + 234.57624447113838, + -0.5519097522035734 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 498.6012522530834, + 234.57624447113838, + -0.5519097522035734 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 583.5565863037109, + 244.7667236328125, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_8-11-17_1480032908/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_8-11-17_1480032908/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d4b4e85af81a97e75245b28eca94900633f47374 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_8-11-17_1480032908/pose.jsonl @@ -0,0 +1,482 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -306.8411923850637, + 468.772522978111, + -2.2361390721149723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -309.8411923850637, + 468.772522978111, + -2.2361390721149723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -312.8411923850637, + 468.772522978111, + -2.2361390721149723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -315.8411923850637, + 468.772522978111, + -2.2361390721149723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -318.8411923850637, + 468.772522978111, + -2.2361390721149723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -321.8411923850637, + 468.772522978111, + -2.2361390721149723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -324.8411923850637, + 468.772522978111, + -2.2361390721149723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -327.8411923850637, + 468.772522978111, + -2.2361390721149723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -330.8411923850637, + 468.772522978111, + -2.2361390721149723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -333.8411923850637, + 468.772522978111, + -2.2361390721149723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -336.8411923850637, + 468.772522978111, + -2.2361390721149723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -339.8411923850637, + 468.772522978111, + -2.2361390721149723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -342.8411923850637, + 468.772522978111, + -2.2361390721149723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -345.8411923850637, + 468.772522978111, + -2.2361390721149723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -348.8411923850637, + 468.772522978111, + -2.2361390721149723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -351.8411923850637, + 468.772522978111, + -2.2361390721149723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -354.8411923850637, + 468.772522978111, + -2.2361390721149723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -357.8411923850637, + 468.772522978111, + -2.2361390721149723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -360.8411923850637, + 468.772522978111, + -2.2361390721149723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -363.8411923850637, + 468.772522978111, + -2.2361390721149723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -366.8411923850637, + 468.772522978111, + -2.2361390721149723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -369.8411923850637, + 468.772522978111, + -2.2361390721149723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -372.8411923850637, + 468.772522978111, + -2.2361390721149723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -375.8411923850637, + 468.772522978111, + -2.2361390721149723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -378.8411923850637, + 468.772522978111, + -2.2361390721149723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -381.8411923850637, + 468.772522978111, + -2.2361390721149723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -384.8411923850637, + 468.772522978111, + -2.2361390721149723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -387.8411923850637, + 468.772522978111, + -2.2361390721149723 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -387.8411923850637, + 468.772522978111, + -2.2361390721149723 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -387.8411923850637, + 468.772522978111, + -2.2361390721149723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -389.3411923850637, + 471.3705991894643, + -2.2361390721149723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -390.8411923850637, + 473.96867540081763, + -2.2361390721149723 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -390.8411923850637, + 473.96867540081763, + -2.2361390721149723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -393.43926859641704, + 475.46867540081763, + -2.2361390721149723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -396.03734480777035, + 476.96867540081763, + -2.2361390721149723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -398.63542101912367, + 478.46867540081763, + -2.2361390721149723 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -399.08082916259764, + 479.4950012207031, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_8-17-42_1968487783/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_8-17-42_1968487783/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..82c46125d1ba9500e3c3e7a2ff85b01d8d374f2d --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_8-17-42_1968487783/pose.jsonl @@ -0,0 +1,157 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -982.2945248190165, + 239.77178055372565, + 1.1481076301864501 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -983.7945248190165, + 242.36985676507896, + 1.1481076301864501 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -985.2945248190165, + 244.96793297643228, + 1.1481076301864501 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -986.7945248190165, + 247.5660091877856, + 1.1481076301864501 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -988.2945248190165, + 250.1640853991389, + 1.1481076301864501 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -989.7945248190165, + 252.76216161049223, + 1.1481076301864501 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -991.2945248190165, + 255.36023782184554, + 1.1481076301864501 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -991.2945248190165, + 255.36023782184554, + 1.1481076301864501 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -993.8926010303699, + 256.86023782184554, + 1.1481076301864501 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -996.4906772417232, + 258.36023782184554, + 1.1481076301864501 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -999.0887534530766, + 259.86023782184554, + 1.1481076301864501 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1041.4117810058594, + 301.62743286132815, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_8-19-13_572561811/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_8-19-13_572561811/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0415ae00c822a5e6f3d01f5c3d14f913fc5f74ac --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_8-19-13_572561811/pose.jsonl @@ -0,0 +1,352 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -351.85733651417655, + -337.0712986478906, + 0.9199420448508189 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -350.35733651417655, + -339.66937485924393, + 0.9199420448508189 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -348.85733651417655, + -342.26745107059725, + 0.9199420448508189 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -347.35733651417655, + -344.86552728195056, + 0.9199420448508189 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -345.85733651417655, + -347.4636034933039, + 0.9199420448508189 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -344.35733651417655, + -350.0616797046572, + 0.9199420448508189 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -342.85733651417655, + -352.6597559160105, + 0.9199420448508189 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -341.35733651417655, + -355.2578321273638, + 0.9199420448508189 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -339.85733651417655, + -357.85590833871714, + 0.9199420448508189 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -338.35733651417655, + -360.45398455007046, + 0.9199420448508189 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -336.85733651417655, + -363.0520607614238, + 0.9199420448508189 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -335.35733651417655, + -365.6501369727771, + 0.9199420448508189 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -333.85733651417655, + -368.2482131841304, + 0.9199420448508189 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -332.35733651417655, + -370.8462893954837, + 0.9199420448508189 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -330.85733651417655, + -373.44436560683704, + 0.9199420448508189 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -329.35733651417655, + -376.04244181819035, + 0.9199420448508189 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -327.85733651417655, + -378.64051802954367, + 0.9199420448508189 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -326.35733651417655, + -381.238594240897, + 0.9199420448508189 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -324.85733651417655, + -383.8366704522503, + 0.9199420448508189 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -323.35733651417655, + -386.4347466636036, + 0.9199420448508189 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -321.85733651417655, + -389.03282287495693, + 0.9199420448508189 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -320.35733651417655, + -391.63089908631025, + 0.9199420448508189 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -320.35733651417655, + -391.63089908631025, + 0.9199420448508189 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -320.35733651417655, + -394.63089908631025, + 0.9199420448508189 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -320.35733651417655, + -397.63089908631025, + 0.9199420448508189 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -320.35733651417655, + -400.63089908631025, + 0.9199420448508189 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -319.6267106628418, + -403.69195602416994, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_8-2-36_1717807878/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_8-2-36_1717807878/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..af8d334ea000c4d4f2455172aa1bf19f27ccdee7 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_8-2-36_1717807878/pose.jsonl @@ -0,0 +1,495 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -262.6499607706205, + -53.09892862124751, + -2.599923297316144 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -264.1499607706205, + -55.697004832600825, + -2.599923297316144 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -265.6499607706205, + -58.29508104395414, + -2.599923297316144 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -267.1499607706205, + -60.89315725530746, + -2.599923297316144 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -268.6499607706205, + -63.49123346666077, + -2.599923297316144 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -270.1499607706205, + -66.08930967801409, + -2.599923297316144 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -271.6499607706205, + -68.6873858893674, + -2.599923297316144 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -273.1499607706205, + -71.28546210072072, + -2.599923297316144 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -274.6499607706205, + -73.88353831207404, + -2.599923297316144 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -276.1499607706205, + -76.48161452342735, + -2.599923297316144 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -277.6499607706205, + -79.07969073478067, + -2.599923297316144 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -279.1499607706205, + -81.67776694613399, + -2.599923297316144 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -280.6499607706205, + -84.2758431574873, + -2.599923297316144 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -282.1499607706205, + -86.87391936884062, + -2.599923297316144 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -283.6499607706205, + -89.47199558019393, + -2.599923297316144 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -285.1499607706205, + -92.07007179154725, + -2.599923297316144 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -286.6499607706205, + -94.66814800290057, + -2.599923297316144 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -288.1499607706205, + -97.26622421425388, + -2.599923297316144 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -289.6499607706205, + -99.8643004256072, + -2.599923297316144 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -291.1499607706205, + -102.46237663696051, + -2.599923297316144 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -292.6499607706205, + -105.06045284831383, + -2.599923297316144 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -294.1499607706205, + -107.65852905966715, + -2.599923297316144 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -294.1499607706205, + -107.65852905966715, + -2.599923297316144 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -296.7480369819738, + -109.15852905966715, + -2.599923297316144 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -299.34611319332714, + -110.65852905966715, + -2.599923297316144 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -301.94418940468046, + -112.15852905966715, + -2.599923297316144 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -304.5422656160338, + -113.65852905966715, + -2.599923297316144 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -307.1403418273871, + -115.15852905966715, + -2.599923297316144 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -309.7384180387404, + -116.65852905966715, + -2.599923297316144 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -312.3364942500937, + -118.15852905966715, + -2.599923297316144 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -314.93457046144704, + -119.65852905966715, + -2.599923297316144 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -317.53264667280035, + -121.15852905966715, + -2.599923297316144 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -317.53264667280035, + -121.15852905966715, + -2.599923297316144 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -319.03264667280035, + -123.75660527102046, + -2.599923297316144 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -320.53264667280035, + -126.35468148237378, + -2.599923297316144 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -322.03264667280035, + -128.9527576937271, + -2.599923297316144 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393193 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -323.53264667280035, + -131.55083390508042, + -2.599923297316144 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393193 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -323.98753799438475, + -133.34803604125977, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_8-20-49_443286196/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_8-20-49_443286196/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3c93fafd8184889b57ca1aea288b319fb0ecedf5 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_8-20-49_443286196/pose.jsonl @@ -0,0 +1,534 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -735.8787836572892, + 124.75126492586935, + 0.2658326611961117 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -734.3787836572892, + 127.34934113722267, + 0.2658326611961117 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -732.8787836572892, + 129.94741734857598, + 0.2658326611961117 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -731.3787836572892, + 132.5454935599293, + 0.2658326611961117 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -729.8787836572892, + 135.1435697712826, + 0.2658326611961117 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -728.3787836572892, + 137.74164598263593, + 0.2658326611961117 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -726.8787836572892, + 140.33972219398925, + 0.2658326611961117 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -725.3787836572892, + 142.93779840534256, + 0.2658326611961117 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -723.8787836572892, + 145.53587461669588, + 0.2658326611961117 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -722.3787836572892, + 148.1339508280492, + 0.2658326611961117 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -720.8787836572892, + 150.7320270394025, + 0.2658326611961117 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -719.3787836572892, + 153.33010325075583, + 0.2658326611961117 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -717.8787836572892, + 155.92817946210914, + 0.2658326611961117 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -716.3787836572892, + 158.52625567346246, + 0.2658326611961117 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -714.8787836572892, + 161.12433188481577, + 0.2658326611961117 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -713.3787836572892, + 163.7224080961691, + 0.2658326611961117 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -711.8787836572892, + 166.3204843075224, + 0.2658326611961117 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -710.3787836572892, + 168.91856051887572, + 0.2658326611961117 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -708.8787836572892, + 171.51663673022904, + 0.2658326611961117 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -707.3787836572892, + 174.11471294158235, + 0.2658326611961117 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -705.8787836572892, + 176.71278915293567, + 0.2658326611961117 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -704.3787836572892, + 179.310865364289, + 0.2658326611961117 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -702.8787836572892, + 181.9089415756423, + 0.2658326611961117 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -701.3787836572892, + 184.50701778699562, + 0.2658326611961117 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -701.3787836572892, + 184.50701778699562, + 0.2658326611961117 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -701.3787836572892, + 187.50701778699562, + 0.2658326611961117 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -701.3787836572892, + 190.50701778699562, + 0.2658326611961117 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -701.3787836572892, + 193.50701778699562, + 0.2658326611961117 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -701.3787836572892, + 196.50701778699562, + 0.2658326611961117 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -701.3787836572892, + 199.50701778699562, + 0.2658326611961117 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -701.3787836572892, + 202.50701778699562, + 0.2658326611961117 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -701.3787836572892, + 205.50701778699562, + 0.2658326611961117 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -701.3787836572892, + 208.50701778699562, + 0.2658326611961117 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -701.3787836572892, + 211.50701778699562, + 0.2658326611961117 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -701.3787836572892, + 214.50701778699562, + 0.2658326611961117 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -701.3787836572892, + 217.50701778699562, + 0.2658326611961117 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -701.3787836572892, + 220.50701778699562, + 0.2658326611961117 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -701.3787836572892, + 223.50701778699562, + 0.2658326611961117 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -701.3787836572892, + 226.50701778699562, + 0.2658326611961117 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -701.3787836572892, + 229.50701778699562, + 0.2658326611961117 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -701.839137878418, + 232.52609245300292, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_8-34-44_591313492/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_8-34-44_591313492/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f6af6dc36837f3dc32ad1a449c29f7de0d55c24a --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_8-34-44_591313492/pose.jsonl @@ -0,0 +1,469 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -593.672109964299, + 197.96632762001542, + 2.996163352095441 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -596.2701861756523, + 199.46632762001542, + 2.996163352095441 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -598.8682623870056, + 200.96632762001542, + 2.996163352095441 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -601.466338598359, + 202.46632762001542, + 2.996163352095441 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -604.0644148097124, + 203.96632762001542, + 2.996163352095441 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -606.6624910210658, + 205.46632762001542, + 2.996163352095441 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -609.2605672324191, + 206.96632762001542, + 2.996163352095441 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -611.8586434437725, + 208.46632762001542, + 2.996163352095441 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -614.4567196551259, + 209.96632762001542, + 2.996163352095441 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -617.0547958664793, + 211.46632762001542, + 2.996163352095441 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -619.6528720778326, + 212.96632762001542, + 2.996163352095441 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -622.250948289186, + 214.46632762001542, + 2.996163352095441 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -624.8490245005394, + 215.96632762001542, + 2.996163352095441 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -627.4471007118927, + 217.46632762001542, + 2.996163352095441 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -630.0451769232461, + 218.96632762001542, + 2.996163352095441 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -632.6432531345995, + 220.46632762001542, + 2.996163352095441 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -635.2413293459529, + 221.96632762001542, + 2.996163352095441 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -637.8394055573062, + 223.46632762001542, + 2.996163352095441 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -640.4374817686596, + 224.96632762001542, + 2.996163352095441 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -643.035557980013, + 226.46632762001542, + 2.996163352095441 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -645.6336341913664, + 227.96632762001542, + 2.996163352095441 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -648.2317104027197, + 229.46632762001542, + 2.996163352095441 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -650.8297866140731, + 230.96632762001542, + 2.996163352095441 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -653.4278628254265, + 232.46632762001542, + 2.996163352095441 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -656.0259390367798, + 233.96632762001542, + 2.996163352095441 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -658.6240152481332, + 235.46632762001542, + 2.996163352095441 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -658.6240152481332, + 235.46632762001542, + 2.996163352095441 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -661.6240152481332, + 235.46632762001542, + 2.996163352095441 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -664.6240152481332, + 235.46632762001542, + 2.996163352095441 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -667.6240152481332, + 235.46632762001542, + 2.996163352095441 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -670.6240152481332, + 235.46632762001542, + 2.996163352095441 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -673.6240152481332, + 235.46632762001542, + 2.996163352095441 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -676.6240152481332, + 235.46632762001542, + 2.996163352095441 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -679.6240152481332, + 235.46632762001542, + 2.996163352095441 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -682.6240152481332, + 235.46632762001542, + 2.996163352095441 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -684.7201055908203, + 237.53857521057128, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_8-35-34_732853814/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_8-35-34_732853814/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c49b4a1cce8ebf69085a5fc0ad17bf3b6d86bd48 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_8-35-34_732853814/pose.jsonl @@ -0,0 +1,404 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -632.292624839468, + 188.98840544602675, + -2.15500036020973 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -634.8907010508212, + 190.48840544602675, + -2.15500036020973 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -637.4887772621746, + 191.98840544602675, + -2.15500036020973 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -640.086853473528, + 193.48840544602675, + -2.15500036020973 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -642.6849296848814, + 194.98840544602675, + -2.15500036020973 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -645.2830058962347, + 196.48840544602675, + -2.15500036020973 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -647.8810821075881, + 197.98840544602675, + -2.15500036020973 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -650.4791583189415, + 199.48840544602675, + -2.15500036020973 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -653.0772345302948, + 200.98840544602675, + -2.15500036020973 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -655.6753107416482, + 202.48840544602675, + -2.15500036020973 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -658.2733869530016, + 203.98840544602675, + -2.15500036020973 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -660.871463164355, + 205.48840544602675, + -2.15500036020973 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -663.4695393757083, + 206.98840544602675, + -2.15500036020973 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -666.0676155870617, + 208.48840544602675, + -2.15500036020973 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -668.6656917984151, + 209.98840544602675, + -2.15500036020973 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -671.2637680097685, + 211.48840544602675, + -2.15500036020973 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -673.8618442211218, + 212.98840544602675, + -2.15500036020973 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -676.4599204324752, + 214.48840544602675, + -2.15500036020973 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -679.0579966438286, + 215.98840544602675, + -2.15500036020973 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -681.656072855182, + 217.48840544602675, + -2.15500036020973 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -684.2541490665353, + 218.98840544602675, + -2.15500036020973 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -686.8522252778887, + 220.48840544602675, + -2.15500036020973 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -689.4503014892421, + 221.98840544602675, + -2.15500036020973 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -692.0483777005954, + 223.48840544602675, + -2.15500036020973 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -692.0483777005954, + 223.48840544602675, + -2.15500036020973 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -693.5483777005954, + 226.08648165738006, + -2.15500036020973 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -695.0483777005954, + 228.68455786873338, + -2.15500036020973 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -696.5483777005954, + 231.2826340800867, + -2.15500036020973 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -698.0483777005954, + 233.88071029144, + -2.15500036020973 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -699.5483777005954, + 236.47878650279333, + -2.15500036020973 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -701.6309753417969, + 238.16310417175293, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_8-39-31_1147198697/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_8-39-31_1147198697/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..279b85e1b5d02941c802baaf7b6db73bbb5735bb --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_8-39-31_1147198697/pose.jsonl @@ -0,0 +1,404 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -841.8871554878867, + -71.23094795503204, + -1.640477040792336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -841.8871554878867, + -68.23094795503204, + -1.640477040792336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -841.8871554878867, + -65.23094795503204, + -1.640477040792336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -841.8871554878867, + -62.230947955032036, + -1.640477040792336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -841.8871554878867, + -59.230947955032036, + -1.640477040792336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -841.8871554878867, + -56.230947955032036, + -1.640477040792336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -841.8871554878867, + -53.230947955032036, + -1.640477040792336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -841.8871554878867, + -50.230947955032036, + -1.640477040792336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -841.8871554878867, + -47.230947955032036, + -1.640477040792336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -841.8871554878867, + -44.230947955032036, + -1.640477040792336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -841.8871554878867, + -41.230947955032036, + -1.640477040792336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -841.8871554878867, + -38.230947955032036, + -1.640477040792336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -841.8871554878867, + -35.230947955032036, + -1.640477040792336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -841.8871554878867, + -32.230947955032036, + -1.640477040792336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -841.8871554878867, + -29.230947955032036, + -1.640477040792336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -841.8871554878867, + -26.230947955032036, + -1.640477040792336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -841.8871554878867, + -23.230947955032036, + -1.640477040792336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -841.8871554878867, + -20.230947955032036, + -1.640477040792336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -841.8871554878867, + -17.230947955032036, + -1.640477040792336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -841.8871554878867, + -14.230947955032036, + -1.640477040792336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -841.8871554878867, + -11.230947955032036, + -1.640477040792336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -841.8871554878867, + -8.230947955032036, + -1.640477040792336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -841.8871554878867, + -5.230947955032036, + -1.640477040792336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -841.8871554878867, + -2.230947955032036, + -1.640477040792336 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -841.8871554878867, + -2.230947955032036, + -1.640477040792336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -840.3871554878867, + 0.3671282563212799, + -1.640477040792336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -838.8871554878867, + 2.965204467674596, + -1.640477040792336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -837.3871554878867, + 5.563280679027912, + -1.640477040792336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -835.8871554878867, + 8.161356890381228, + -1.640477040792336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -834.3871554878867, + 10.759433101734544, + -1.640477040792336 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -834.8437512207031, + 12.72820457458496, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_8-42-20_2130082424/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_8-42-20_2130082424/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..14d29fe566b487c1d7cd51b74fd381adf4f7c32a --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_8-42-20_2130082424/pose.jsonl @@ -0,0 +1,391 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -657.7856702897933, + 92.76314363972787, + -1.692407680319881 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -657.7856702897933, + 89.76314363972787, + -1.692407680319881 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -657.7856702897933, + 86.76314363972787, + -1.692407680319881 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -657.7856702897933, + 83.76314363972787, + -1.692407680319881 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -657.7856702897933, + 80.76314363972787, + -1.692407680319881 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -657.7856702897933, + 77.76314363972787, + -1.692407680319881 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -657.7856702897933, + 74.76314363972787, + -1.692407680319881 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -657.7856702897933, + 71.76314363972787, + -1.692407680319881 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -657.7856702897933, + 68.76314363972787, + -1.692407680319881 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -657.7856702897933, + 65.76314363972787, + -1.692407680319881 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -657.7856702897933, + 62.76314363972787, + -1.692407680319881 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -657.7856702897933, + 59.76314363972787, + -1.692407680319881 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -657.7856702897933, + 56.76314363972787, + -1.692407680319881 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -657.7856702897933, + 53.76314363972787, + -1.692407680319881 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -657.7856702897933, + 50.76314363972787, + -1.692407680319881 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -657.7856702897933, + 47.76314363972787, + -1.692407680319881 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -657.7856702897933, + 44.76314363972787, + -1.692407680319881 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -657.7856702897933, + 41.76314363972787, + -1.692407680319881 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -657.7856702897933, + 38.76314363972787, + -1.692407680319881 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -657.7856702897933, + 35.76314363972787, + -1.692407680319881 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -657.7856702897933, + 32.76314363972787, + -1.692407680319881 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -657.7856702897933, + 29.763143639727872, + -1.692407680319881 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -657.7856702897933, + 26.763143639727872, + -1.692407680319881 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -657.7856702897933, + 26.763143639727872, + -1.692407680319881 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -659.2856702897933, + 24.165067428374556, + -1.692407680319881 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -660.7856702897933, + 21.56699121702124, + -1.692407680319881 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -662.2856702897933, + 18.968915005667924, + -1.692407680319881 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -663.7856702897933, + 16.370838794314608, + -1.692407680319881 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -665.2856702897933, + 13.772762582961292, + -1.692407680319881 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -667.3111592102051, + 12.556017684936524, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_8-44-3_1306766083/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_8-44-3_1306766083/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5b422858821d621f7af4905f9676aa1181534047 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_8-44-3_1306766083/pose.jsonl @@ -0,0 +1,404 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -707.0780409389987, + 51.357670271640146, + -0.7696475848835718 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -709.676117150352, + 52.857670271640146, + -0.7696475848835718 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -712.2741933617053, + 54.357670271640146, + -0.7696475848835718 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -714.8722695730587, + 55.857670271640146, + -0.7696475848835718 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -717.4703457844121, + 57.357670271640146, + -0.7696475848835718 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -720.0684219957654, + 58.857670271640146, + -0.7696475848835718 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -722.6664982071188, + 60.357670271640146, + -0.7696475848835718 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -725.2645744184722, + 61.857670271640146, + -0.7696475848835718 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -727.8626506298256, + 63.357670271640146, + -0.7696475848835718 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -730.4607268411789, + 64.85767027164015, + -0.7696475848835718 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -733.0588030525323, + 66.35767027164015, + -0.7696475848835718 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -735.6568792638857, + 67.85767027164015, + -0.7696475848835718 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -738.2549554752391, + 69.35767027164015, + -0.7696475848835718 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -740.8530316865924, + 70.85767027164015, + -0.7696475848835718 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -743.4511078979458, + 72.35767027164015, + -0.7696475848835718 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -746.0491841092992, + 73.85767027164015, + -0.7696475848835718 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -748.6472603206525, + 75.35767027164015, + -0.7696475848835718 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -751.2453365320059, + 76.85767027164015, + -0.7696475848835718 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -753.8434127433593, + 78.35767027164015, + -0.7696475848835718 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -756.4414889547127, + 79.85767027164015, + -0.7696475848835718 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -756.4414889547127, + 79.85767027164015, + -0.7696475848835718 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -759.4414889547127, + 79.85767027164015, + -0.7696475848835718 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -762.4414889547127, + 79.85767027164015, + -0.7696475848835718 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -765.4414889547127, + 79.85767027164015, + -0.7696475848835718 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -768.4414889547127, + 79.85767027164015, + -0.7696475848835718 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -771.4414889547127, + 79.85767027164015, + -0.7696475848835718 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -774.4414889547127, + 79.85767027164015, + -0.7696475848835718 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -777.4414889547127, + 79.85767027164015, + -0.7696475848835718 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -780.4414889547127, + 79.85767027164015, + -0.7696475848835718 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -783.4414889547127, + 79.85767027164015, + -0.7696475848835718 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -785.9369680786133, + 81.05284317016601, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_8-44-53_1472184324/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_8-44-53_1472184324/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3e8d166403466318ff1b5126d4c1e2e15e68bab3 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_8-44-53_1472184324/pose.jsonl @@ -0,0 +1,404 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -493.7653368774655, + 91.40975173442581, + -2.8696535014868756 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -491.16726066611216, + 89.90975173442581, + -2.8696535014868756 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -488.56918445475884, + 88.40975173442581, + -2.8696535014868756 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -485.9711082434055, + 86.90975173442581, + -2.8696535014868756 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -483.3730320320522, + 85.40975173442581, + -2.8696535014868756 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -480.7749558206989, + 83.90975173442581, + -2.8696535014868756 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -478.1768796093456, + 82.40975173442581, + -2.8696535014868756 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -475.57880339799226, + 80.90975173442581, + -2.8696535014868756 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -472.98072718663894, + 79.40975173442581, + -2.8696535014868756 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -470.3826509752856, + 77.90975173442581, + -2.8696535014868756 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -467.7845747639323, + 76.40975173442581, + -2.8696535014868756 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -465.186498552579, + 74.90975173442581, + -2.8696535014868756 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -462.5884223412257, + 73.40975173442581, + -2.8696535014868756 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -459.99034612987236, + 71.90975173442581, + -2.8696535014868756 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -457.39226991851905, + 70.40975173442581, + -2.8696535014868756 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -454.79419370716573, + 68.90975173442581, + -2.8696535014868756 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -452.1961174958124, + 67.40975173442581, + -2.8696535014868756 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -449.5980412844591, + 65.90975173442581, + -2.8696535014868756 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -449.5980412844591, + 65.90975173442581, + -2.8696535014868756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -448.0980412844591, + 63.311675523072495, + -2.8696535014868756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -446.5980412844591, + 60.71359931171918, + -2.8696535014868756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -445.0980412844591, + 58.11552310036586, + -2.8696535014868756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -443.5980412844591, + 55.51744688901255, + -2.8696535014868756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -442.0980412844591, + 52.91937067765923, + -2.8696535014868756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -440.5980412844591, + 50.321294466305915, + -2.8696535014868756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -439.0980412844591, + 47.7232182549526, + -2.8696535014868756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -437.5980412844591, + 45.12514204359928, + -2.8696535014868756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -436.0980412844591, + 42.52706583224597, + -2.8696535014868756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -434.5980412844591, + 39.92898962089265, + -2.8696535014868756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -433.0980412844591, + 37.330913409539335, + -2.8696535014868756 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -431.4943495178223, + 32.88219102859497, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_8-49-19_568388370/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_8-49-19_568388370/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a7c7e9888ce1763abf63e1377488f10488c2c664 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_8-49-19_568388370/pose.jsonl @@ -0,0 +1,560 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 292.6490069455598, + 701.6149635257539, + -4.518660946244216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 290.0509307342065, + 703.1149635257539, + -4.518660946244216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 287.45285452285316, + 704.6149635257539, + -4.518660946244216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 284.85477831149984, + 706.1149635257539, + -4.518660946244216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 282.2567021001465, + 707.6149635257539, + -4.518660946244216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 279.6586258887932, + 709.1149635257539, + -4.518660946244216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 277.0605496774399, + 710.6149635257539, + -4.518660946244216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 274.4624734660866, + 712.1149635257539, + -4.518660946244216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 271.86439725473326, + 713.6149635257539, + -4.518660946244216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 269.26632104337995, + 715.1149635257539, + -4.518660946244216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 266.66824483202663, + 716.6149635257539, + -4.518660946244216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 264.0701686206733, + 718.1149635257539, + -4.518660946244216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 261.47209240932, + 719.6149635257539, + -4.518660946244216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 258.8740161979667, + 721.1149635257539, + -4.518660946244216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 256.27593998661337, + 722.6149635257539, + -4.518660946244216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 253.67786377526005, + 724.1149635257539, + -4.518660946244216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 251.07978756390673, + 725.6149635257539, + -4.518660946244216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 248.48171135255342, + 727.1149635257539, + -4.518660946244216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 245.8836351412001, + 728.6149635257539, + -4.518660946244216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 243.2855589298468, + 730.1149635257539, + -4.518660946244216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 240.68748271849347, + 731.6149635257539, + -4.518660946244216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 238.08940650714015, + 733.1149635257539, + -4.518660946244216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 235.49133029578684, + 734.6149635257539, + -4.518660946244216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 232.89325408443352, + 736.1149635257539, + -4.518660946244216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 230.2951778730802, + 737.6149635257539, + -4.518660946244216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 227.6971016617269, + 739.1149635257539, + -4.518660946244216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 225.09902545037357, + 740.6149635257539, + -4.518660946244216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 222.50094923902026, + 742.1149635257539, + -4.518660946244216 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 222.50094923902026, + 742.1149635257539, + -4.518660946244216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 221.00094923902026, + 744.7130397371072, + -4.518660946244216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 219.50094923902026, + 747.3111159484606, + -4.518660946244216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 218.00094923902026, + 749.909192159814, + -4.518660946244216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 216.50094923902026, + 752.5072683711674, + -4.518660946244216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 215.00094923902026, + 755.1053445825207, + -4.518660946244216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 213.50094923902026, + 757.7034207938741, + -4.518660946244216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 212.00094923902026, + 760.3014970052275, + -4.518660946244216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 210.50094923902026, + 762.8995732165808, + -4.518660946244216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 209.00094923902026, + 765.4976494279342, + -4.518660946244216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 207.50094923902026, + 768.0957256392876, + -4.518660946244216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 206.00094923902026, + 770.693801850641, + -4.518660946244216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 204.50094923902026, + 773.2918780619943, + -4.518660946244216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 203.00094923902026, + 775.8899542733477, + -4.518660946244216 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 201.67972503662108, + 776.560556640625, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_8-50-30_1449378491/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_8-50-30_1449378491/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..43e2666c53068097ca370caf4d0676ca6edab916 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_8-50-30_1449378491/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -357.5644797964003, + 430.2173308693628, + 1.678351711589345 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -359.0644797964003, + 432.8154070807161, + 1.678351711589345 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -360.5644797964003, + 435.41348329206943, + 1.678351711589345 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -362.0644797964003, + 438.01155950342275, + 1.678351711589345 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -363.5644797964003, + 440.60963571477606, + 1.678351711589345 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -365.0644797964003, + 443.2077119261294, + 1.678351711589345 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -366.5644797964003, + 445.8057881374827, + 1.678351711589345 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -368.0644797964003, + 448.403864348836, + 1.678351711589345 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -369.5644797964003, + 451.0019405601893, + 1.678351711589345 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -371.0644797964003, + 453.60001677154264, + 1.678351711589345 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -372.5644797964003, + 456.19809298289596, + 1.678351711589345 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -374.0644797964003, + 458.7961691942493, + 1.678351711589345 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -375.5644797964003, + 461.3942454056026, + 1.678351711589345 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -375.5644797964003, + 461.3942454056026, + 1.678351711589345 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -378.1625560077536, + 462.8942454056026, + 1.678351711589345 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -380.7606322191069, + 464.3942454056026, + 1.678351711589345 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -383.35870843046024, + 465.8942454056026, + 1.678351711589345 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -385.95678464181356, + 467.3942454056026, + 1.678351711589345 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -388.5548608531669, + 468.8942454056026, + 1.678351711589345 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -391.1529370645202, + 470.3942454056026, + 1.678351711589345 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -393.7510132758735, + 471.8942454056026, + 1.678351711589345 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -393.7510132758735, + 471.8942454056026, + 1.678351711589345 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -395.2510132758735, + 474.4923216169559, + 1.678351711589345 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -396.7510132758735, + 477.0903978283092, + 1.678351711589345 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -399.08082916259764, + 479.4950012207031, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_8-53-52_459541652/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_8-53-52_459541652/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fb6f08dd2a2f67d5d979b449543ef0cbcc590598 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_8-53-52_459541652/pose.jsonl @@ -0,0 +1,469 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -577.9631111482545, + -292.46670796872115, + 3.501865187540224 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -576.4631111482545, + -289.86863175736784, + 3.501865187540224 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -574.9631111482545, + -287.2705555460145, + 3.501865187540224 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -573.4631111482545, + -284.6724793346612, + 3.501865187540224 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -571.9631111482545, + -282.0744031233079, + 3.501865187540224 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -570.4631111482545, + -279.4763269119546, + 3.501865187540224 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -568.9631111482545, + -276.87825070060126, + 3.501865187540224 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -567.4631111482545, + -274.28017448924794, + 3.501865187540224 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -565.9631111482545, + -271.6820982778946, + 3.501865187540224 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -564.4631111482545, + -269.0840220665413, + 3.501865187540224 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -562.9631111482545, + -266.485945855188, + 3.501865187540224 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -561.4631111482545, + -263.8878696438347, + 3.501865187540224 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -559.9631111482545, + -261.28979343248136, + 3.501865187540224 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -558.4631111482545, + -258.69171722112804, + 3.501865187540224 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -556.9631111482545, + -256.09364100977473, + 3.501865187540224 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -555.4631111482545, + -253.4955647984214, + 3.501865187540224 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -553.9631111482545, + -250.8974885870681, + 3.501865187540224 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -552.4631111482545, + -248.29941237571478, + 3.501865187540224 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -550.9631111482545, + -245.70133616436146, + 3.501865187540224 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -549.4631111482545, + -243.10325995300815, + 3.501865187540224 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -547.9631111482545, + -240.50518374165483, + 3.501865187540224 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -547.9631111482545, + -240.50518374165483, + 3.501865187540224 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -545.3650349369011, + -239.00518374165483, + 3.501865187540224 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -542.7669587255477, + -237.50518374165483, + 3.501865187540224 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -540.1688825141944, + -236.00518374165483, + 3.501865187540224 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -537.570806302841, + -234.50518374165483, + 3.501865187540224 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -534.9727300914876, + -233.00518374165483, + 3.501865187540224 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -532.3746538801342, + -231.50518374165483, + 3.501865187540224 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -529.7765776687809, + -230.00518374165483, + 3.501865187540224 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -527.1785014574275, + -228.50518374165483, + 3.501865187540224 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -524.5804252460741, + -227.00518374165483, + 3.501865187540224 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -521.9823490347208, + -225.50518374165483, + 3.501865187540224 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -519.3842728233674, + -224.00518374165483, + 3.501865187540224 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -516.786196612014, + -222.50518374165483, + 3.501865187540224 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -514.1881204006606, + -221.00518374165483, + 3.501865187540224 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -510.5901588439941, + -220.83477218627928, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_8-56-32_447272592/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_8-56-32_447272592/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2c7204c3e3b20f62a2a213c5a090ea90ab151629 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_8-56-32_447272592/pose.jsonl @@ -0,0 +1,469 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -691.3014665344823, + 307.27761954603386, + -3.303291619137013 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -694.3014665344823, + 307.27761954603386, + -3.303291619137013 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -697.3014665344823, + 307.27761954603386, + -3.303291619137013 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -700.3014665344823, + 307.27761954603386, + -3.303291619137013 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -703.3014665344823, + 307.27761954603386, + -3.303291619137013 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -706.3014665344823, + 307.27761954603386, + -3.303291619137013 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -709.3014665344823, + 307.27761954603386, + -3.303291619137013 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -712.3014665344823, + 307.27761954603386, + -3.303291619137013 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -715.3014665344823, + 307.27761954603386, + -3.303291619137013 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -718.3014665344823, + 307.27761954603386, + -3.303291619137013 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -721.3014665344823, + 307.27761954603386, + -3.303291619137013 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -724.3014665344823, + 307.27761954603386, + -3.303291619137013 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -727.3014665344823, + 307.27761954603386, + -3.303291619137013 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -730.3014665344823, + 307.27761954603386, + -3.303291619137013 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -733.3014665344823, + 307.27761954603386, + -3.303291619137013 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -736.3014665344823, + 307.27761954603386, + -3.303291619137013 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -739.3014665344823, + 307.27761954603386, + -3.303291619137013 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -742.3014665344823, + 307.27761954603386, + -3.303291619137013 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -745.3014665344823, + 307.27761954603386, + -3.303291619137013 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -748.3014665344823, + 307.27761954603386, + -3.303291619137013 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -751.3014665344823, + 307.27761954603386, + -3.303291619137013 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -754.3014665344823, + 307.27761954603386, + -3.303291619137013 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -754.3014665344823, + 307.27761954603386, + -3.303291619137013 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -756.8995427458356, + 305.77761954603386, + -3.303291619137013 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -759.4976189571889, + 304.27761954603386, + -3.303291619137013 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -762.0956951685423, + 302.77761954603386, + -3.303291619137013 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -764.6937713798957, + 301.27761954603386, + -3.303291619137013 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -767.291847591249, + 299.77761954603386, + -3.303291619137013 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -769.8899238026024, + 298.27761954603386, + -3.303291619137013 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -772.4880000139558, + 296.77761954603386, + -3.303291619137013 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -775.0860762253092, + 295.27761954603386, + -3.303291619137013 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -777.6841524366625, + 293.77761954603386, + -3.303291619137013 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -780.2822286480159, + 292.27761954603386, + -3.303291619137013 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -782.8803048593693, + 290.77761954603386, + -3.303291619137013 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -785.4783810707227, + 289.27761954603386, + -3.303291619137013 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -802.5129748535156, + 284.37975662231446, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_8-59-56_1860422328/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_8-59-56_1860422328/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1accaa7d77c21bf2544de8a390b328146a45a833 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_8-59-56_1860422328/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 291.05576947454426, + -9.976446966407636, + -2.3948268137092903 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 293.6538456858976, + -8.476446966407636, + -2.3948268137092903 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 296.2519218972509, + -6.976446966407636, + -2.3948268137092903 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 298.8499981086042, + -5.476446966407636, + -2.3948268137092903 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 301.4480743199575, + -3.976446966407636, + -2.3948268137092903 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 304.04615053131084, + -2.476446966407636, + -2.3948268137092903 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 306.64422674266416, + -0.9764469664076361, + -2.3948268137092903 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 306.64422674266416, + -0.9764469664076361, + -2.3948268137092903 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 308.14422674266416, + 1.62162924494568, + -2.3948268137092903 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 309.64422674266416, + 4.219705456298996, + -2.3948268137092903 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 311.14422674266416, + 6.817781667652312, + -2.3948268137092903 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 312.64422674266416, + 9.415857879005628, + -2.3948268137092903 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 314.14422674266416, + 12.013934090358944, + -2.3948268137092903 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 315.64422674266416, + 14.61201030171226, + -2.3948268137092903 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 317.14422674266416, + 17.210086513065576, + -2.3948268137092903 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 318.64422674266416, + 19.808162724418892, + -2.3948268137092903 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 320.14422674266416, + 22.40623893577221, + -2.3948268137092903 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 320.14422674266416, + 22.40623893577221, + -2.3948268137092903 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 322.7423029540175, + 23.90623893577221, + -2.3948268137092903 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 325.3403791653708, + 25.40623893577221, + -2.3948268137092903 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 327.9384553767241, + 26.90623893577221, + -2.3948268137092903 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 330.5365315880774, + 28.40623893577221, + -2.3948268137092903 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 333.13460779943074, + 29.90623893577221, + -2.3948268137092903 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 335.73268401078406, + 31.40623893577221, + -2.3948268137092903 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 338.33076022213737, + 32.90623893577221, + -2.3948268137092903 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 340.9288364334907, + 34.40623893577221, + -2.3948268137092903 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 343.526912644844, + 35.90623893577221, + -2.3948268137092903 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 344.9839593505859, + 35.070869789123535, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-0-27_575575027/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-0-27_575575027/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..019a699e6d5986516b73bed9914fbcbb8dcdc10e --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-0-27_575575027/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -293.1977511586446, + 707.3485712614012, + -0.9535450557374103 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -295.79582736999794, + 708.8485712614012, + -0.9535450557374103 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -298.39390358135125, + 710.3485712614012, + -0.9535450557374103 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -300.99197979270457, + 711.8485712614012, + -0.9535450557374103 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -303.5900560040579, + 713.3485712614012, + -0.9535450557374103 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -306.1881322154112, + 714.8485712614012, + -0.9535450557374103 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -308.7862084267645, + 716.3485712614012, + -0.9535450557374103 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -311.38428463811783, + 717.8485712614012, + -0.9535450557374103 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -313.98236084947115, + 719.3485712614012, + -0.9535450557374103 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -316.58043706082447, + 720.8485712614012, + -0.9535450557374103 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -319.1785132721778, + 722.3485712614012, + -0.9535450557374103 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -321.7765894835311, + 723.8485712614012, + -0.9535450557374103 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -324.3746656948844, + 725.3485712614012, + -0.9535450557374103 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -326.97274190623773, + 726.8485712614012, + -0.9535450557374103 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -329.57081811759105, + 728.3485712614012, + -0.9535450557374103 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -332.16889432894436, + 729.8485712614012, + -0.9535450557374103 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -334.7669705402977, + 731.3485712614012, + -0.9535450557374103 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -337.365046751651, + 732.8485712614012, + -0.9535450557374103 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -339.9631229630043, + 734.3485712614012, + -0.9535450557374103 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -342.5611991743576, + 735.8485712614012, + -0.9535450557374103 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -345.15927538571094, + 737.3485712614012, + -0.9535450557374103 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -347.75735159706426, + 738.8485712614012, + -0.9535450557374103 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -350.3554278084176, + 740.3485712614012, + -0.9535450557374103 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -349.92333297729493, + 742.416524963379, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-11-15_1847472101/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-11-15_1847472101/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..72589bac1d5749c5016f752428f1a34094db9238 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-11-15_1847472101/pose.jsonl @@ -0,0 +1,547 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -317.6106239618794, + -265.3442120269067, + -4.71605764163345 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -319.1106239618794, + -262.7461358155534, + -4.71605764163345 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -320.6106239618794, + -260.14805960420006, + -4.71605764163345 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -322.1106239618794, + -257.54998339284674, + -4.71605764163345 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -323.6106239618794, + -254.95190718149343, + -4.71605764163345 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -325.1106239618794, + -252.3538309701401, + -4.71605764163345 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -326.6106239618794, + -249.7557547587868, + -4.71605764163345 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -328.1106239618794, + -247.15767854743348, + -4.71605764163345 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -329.6106239618794, + -244.55960233608016, + -4.71605764163345 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -331.1106239618794, + -241.96152612472684, + -4.71605764163345 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -332.6106239618794, + -239.36344991337353, + -4.71605764163345 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -334.1106239618794, + -236.7653737020202, + -4.71605764163345 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -335.6106239618794, + -234.1672974906669, + -4.71605764163345 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -337.1106239618794, + -231.56922127931358, + -4.71605764163345 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -338.6106239618794, + -228.97114506796026, + -4.71605764163345 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -340.1106239618794, + -226.37306885660695, + -4.71605764163345 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -341.6106239618794, + -223.77499264525363, + -4.71605764163345 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -343.1106239618794, + -221.17691643390032, + -4.71605764163345 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -344.6106239618794, + -218.578840222547, + -4.71605764163345 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -346.1106239618794, + -215.98076401119368, + -4.71605764163345 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -347.6106239618794, + -213.38268779984037, + -4.71605764163345 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -349.1106239618794, + -210.78461158848705, + -4.71605764163345 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -350.6106239618794, + -208.18653537713374, + -4.71605764163345 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -352.1106239618794, + -205.58845916578042, + -4.71605764163345 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -352.1106239618794, + -205.58845916578042, + -4.71605764163345 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -354.7087001732327, + -204.08845916578042, + -4.71605764163345 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -357.30677638458604, + -202.58845916578042, + -4.71605764163345 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -359.90485259593936, + -201.08845916578042, + -4.71605764163345 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -362.5029288072927, + -199.58845916578042, + -4.71605764163345 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -365.101005018646, + -198.08845916578042, + -4.71605764163345 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -367.6990812299993, + -196.58845916578042, + -4.71605764163345 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -370.2971574413526, + -195.08845916578042, + -4.71605764163345 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -372.89523365270594, + -193.58845916578042, + -4.71605764163345 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -375.49330986405926, + -192.08845916578042, + -4.71605764163345 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -378.0913860754126, + -190.58845916578042, + -4.71605764163345 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -380.6894622867659, + -189.08845916578042, + -4.71605764163345 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -383.2875384981192, + -187.58845916578042, + -4.71605764163345 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -385.8856147094725, + -186.08845916578042, + -4.71605764163345 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -388.48369092082584, + -184.58845916578042, + -4.71605764163345 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -391.08176713217915, + -183.08845916578042, + -4.71605764163345 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -393.67984334353247, + -181.58845916578042, + -4.71605764163345 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -395.0994828796387, + -178.58960372924804, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-14-8_943471008/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-14-8_943471008/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a74ef25c1fa22911437765ed65c062810f49b225 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-14-8_943471008/pose.jsonl @@ -0,0 +1,404 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -402.6044727008453, + -387.8475315309045, + 4.191832201875055 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -399.6044727008453, + -387.8475315309045, + 4.191832201875055 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -396.6044727008453, + -387.8475315309045, + 4.191832201875055 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -393.6044727008453, + -387.8475315309045, + 4.191832201875055 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -390.6044727008453, + -387.8475315309045, + 4.191832201875055 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -387.6044727008453, + -387.8475315309045, + 4.191832201875055 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -384.6044727008453, + -387.8475315309045, + 4.191832201875055 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -381.6044727008453, + -387.8475315309045, + 4.191832201875055 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -378.6044727008453, + -387.8475315309045, + 4.191832201875055 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -375.6044727008453, + -387.8475315309045, + 4.191832201875055 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -372.6044727008453, + -387.8475315309045, + 4.191832201875055 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -369.6044727008453, + -387.8475315309045, + 4.191832201875055 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -366.6044727008453, + -387.8475315309045, + 4.191832201875055 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -363.6044727008453, + -387.8475315309045, + 4.191832201875055 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -360.6044727008453, + -387.8475315309045, + 4.191832201875055 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -357.6044727008453, + -387.8475315309045, + 4.191832201875055 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -354.6044727008453, + -387.8475315309045, + 4.191832201875055 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -351.6044727008453, + -387.8475315309045, + 4.191832201875055 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -351.6044727008453, + -387.8475315309045, + 4.191832201875055 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -349.006396489492, + -389.3475315309045, + 4.191832201875055 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -346.40832027813866, + -390.8475315309045, + 4.191832201875055 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -343.81024406678534, + -392.3475315309045, + 4.191832201875055 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -341.212167855432, + -393.8475315309045, + 4.191832201875055 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -338.6140916440787, + -395.3475315309045, + 4.191832201875055 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -336.0160154327254, + -396.8475315309045, + 4.191832201875055 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -333.4179392213721, + -398.3475315309045, + 4.191832201875055 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -330.81986301001876, + -399.8475315309045, + 4.191832201875055 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -328.22178679866545, + -401.3475315309045, + 4.191832201875055 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -325.62371058731213, + -402.8475315309045, + 4.191832201875055 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -323.0256343759588, + -404.3475315309045, + 4.191832201875055 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -319.6267106628418, + -403.69195602416994, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-15-38_1715159346/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-15-38_1715159346/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bfcd6cab2d7b5f7599b5541fb5a5987d7a47438e --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-15-38_1715159346/pose.jsonl @@ -0,0 +1,534 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -802.0520071507735, + 263.7593282699431, + 0.39177314044928835 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -799.0520071507735, + 263.7593282699431, + 0.39177314044928835 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -796.0520071507735, + 263.7593282699431, + 0.39177314044928835 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -793.0520071507735, + 263.7593282699431, + 0.39177314044928835 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -790.0520071507735, + 263.7593282699431, + 0.39177314044928835 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -787.0520071507735, + 263.7593282699431, + 0.39177314044928835 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -784.0520071507735, + 263.7593282699431, + 0.39177314044928835 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -781.0520071507735, + 263.7593282699431, + 0.39177314044928835 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -778.0520071507735, + 263.7593282699431, + 0.39177314044928835 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -775.0520071507735, + 263.7593282699431, + 0.39177314044928835 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -772.0520071507735, + 263.7593282699431, + 0.39177314044928835 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -769.0520071507735, + 263.7593282699431, + 0.39177314044928835 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -766.0520071507735, + 263.7593282699431, + 0.39177314044928835 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -763.0520071507735, + 263.7593282699431, + 0.39177314044928835 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -760.0520071507735, + 263.7593282699431, + 0.39177314044928835 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -757.0520071507735, + 263.7593282699431, + 0.39177314044928835 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -754.0520071507735, + 263.7593282699431, + 0.39177314044928835 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -751.0520071507735, + 263.7593282699431, + 0.39177314044928835 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -748.0520071507735, + 263.7593282699431, + 0.39177314044928835 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -745.0520071507735, + 263.7593282699431, + 0.39177314044928835 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -742.0520071507735, + 263.7593282699431, + 0.39177314044928835 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -742.0520071507735, + 263.7593282699431, + 0.39177314044928835 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -742.0520071507735, + 263.7593282699431, + 0.39177314044928835 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -740.5520071507735, + 261.1612520585898, + 0.39177314044928835 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -739.0520071507735, + 258.5631758472365, + 0.39177314044928835 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -737.5520071507735, + 255.96509963588318, + 0.39177314044928835 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -737.5520071507735, + 255.96509963588318, + 0.39177314044928835 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -734.9539309394202, + 254.46509963588318, + 0.39177314044928835 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -732.3558547280668, + 252.96509963588318, + 0.39177314044928835 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -729.7577785167134, + 251.46509963588318, + 0.39177314044928835 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -727.15970230536, + 249.96509963588318, + 0.39177314044928835 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -724.5616260940067, + 248.46509963588318, + 0.39177314044928835 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -721.9635498826533, + 246.96509963588318, + 0.39177314044928835 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -719.3654736712999, + 245.46509963588318, + 0.39177314044928835 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -716.7673974599466, + 243.96509963588318, + 0.39177314044928835 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -714.1693212485932, + 242.46509963588318, + 0.39177314044928835 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -711.5712450372398, + 240.96509963588318, + 0.39177314044928835 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -708.9731688258864, + 239.46509963588318, + 0.39177314044928835 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -706.3750926145331, + 237.96509963588318, + 0.39177314044928835 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -703.7770164031797, + 236.46509963588318, + 0.39177314044928835 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -701.6309753417969, + 238.16310417175293, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-19-12_1443491243/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-19-12_1443491243/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0e790d858491ab6b6b410bdfbd5a33daf736c976 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-19-12_1443491243/pose.jsonl @@ -0,0 +1,287 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -889.8776470094721, + 302.8628288026385, + -3.089565540662605 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -892.4757232208253, + 304.3628288026385, + -3.089565540662605 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -895.0737994321787, + 305.8628288026385, + -3.089565540662605 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -897.6718756435321, + 307.3628288026385, + -3.089565540662605 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -900.2699518548854, + 308.8628288026385, + -3.089565540662605 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -902.8680280662388, + 310.3628288026385, + -3.089565540662605 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -905.4661042775922, + 311.8628288026385, + -3.089565540662605 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -908.0641804889456, + 313.3628288026385, + -3.089565540662605 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -910.6622567002989, + 314.8628288026385, + -3.089565540662605 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -913.2603329116523, + 316.3628288026385, + -3.089565540662605 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -915.8584091230057, + 317.8628288026385, + -3.089565540662605 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -918.4564853343591, + 319.3628288026385, + -3.089565540662605 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -921.0545615457124, + 320.8628288026385, + -3.089565540662605 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -923.6526377570658, + 322.3628288026385, + -3.089565540662605 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -926.2507139684192, + 323.8628288026385, + -3.089565540662605 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -928.8487901797725, + 325.3628288026385, + -3.089565540662605 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -931.4468663911259, + 326.8628288026385, + -3.089565540662605 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -934.0449426024793, + 328.3628288026385, + -3.089565540662605 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -936.6430188138327, + 329.8628288026385, + -3.089565540662605 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -939.241095025186, + 331.3628288026385, + -3.089565540662605 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -941.8391712365394, + 332.8628288026385, + -3.089565540662605 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -942.5730328369141, + 336.42247901916505, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-2-14_1974423328/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-2-14_1974423328/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1b3eb6bbd11f0e66e239c220a1c99c4d48d249be --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-2-14_1974423328/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -737.9630710287024, + 87.26794434007684, + -3.0924296173404437 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -737.9630710287024, + 84.26794434007684, + -3.0924296173404437 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -737.9630710287024, + 81.26794434007684, + -3.0924296173404437 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -737.9630710287024, + 78.26794434007684, + -3.0924296173404437 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -737.9630710287024, + 75.26794434007684, + -3.0924296173404437 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -737.9630710287024, + 72.26794434007684, + -3.0924296173404437 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -737.9630710287024, + 69.26794434007684, + -3.0924296173404437 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -737.9630710287024, + 66.26794434007684, + -3.0924296173404437 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -737.9630710287024, + 63.26794434007684, + -3.0924296173404437 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -737.9630710287024, + 60.26794434007684, + -3.0924296173404437 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -737.9630710287024, + 57.26794434007684, + -3.0924296173404437 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -737.9630710287024, + 54.26794434007684, + -3.0924296173404437 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -737.9630710287024, + 51.26794434007684, + -3.0924296173404437 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -737.9630710287024, + 48.26794434007684, + -3.0924296173404437 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -737.9630710287024, + 45.26794434007684, + -3.0924296173404437 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -737.9630710287024, + 42.26794434007684, + -3.0924296173404437 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -737.9630710287024, + 39.26794434007684, + -3.0924296173404437 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -737.9630710287024, + 36.26794434007684, + -3.0924296173404437 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -737.9630710287024, + 33.26794434007684, + -3.0924296173404437 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -737.9630710287024, + 33.26794434007684, + -3.0924296173404437 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -736.4630710287024, + 30.66986812872352, + -3.0924296173404437 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -734.9630710287024, + 28.071791917370206, + -3.0924296173404437 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -733.4630710287024, + 25.47371570601689, + -3.0924296173404437 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -731.5441055297852, + 23.07341537475586, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-20-53_2146753918/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-20-53_2146753918/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..18970627cc86049ef52b061a180a4a658f07f99f --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-20-53_2146753918/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -311.35394736499654, + -432.1976849533354, + 2.630305262945848 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -312.85394736499654, + -429.5996087419821, + 2.630305262945848 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -314.35394736499654, + -427.00153253062877, + 2.630305262945848 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -315.85394736499654, + -424.40345631927545, + 2.630305262945848 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -317.35394736499654, + -421.80538010792213, + 2.630305262945848 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -318.85394736499654, + -419.2073038965688, + 2.630305262945848 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -320.35394736499654, + -416.6092276852155, + 2.630305262945848 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -321.85394736499654, + -414.0111514738622, + 2.630305262945848 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -323.35394736499654, + -411.41307526250887, + 2.630305262945848 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -324.85394736499654, + -408.81499905115555, + 2.630305262945848 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -326.35394736499654, + -406.21692283980224, + 2.630305262945848 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -327.85394736499654, + -403.6188466284489, + 2.630305262945848 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -329.35394736499654, + -401.0207704170956, + 2.630305262945848 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -330.85394736499654, + -398.4226942057423, + 2.630305262945848 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -332.35394736499654, + -395.824617994389, + 2.630305262945848 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -333.85394736499654, + -393.22654178303566, + 2.630305262945848 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -335.35394736499654, + -390.62846557168234, + 2.630305262945848 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -336.85394736499654, + -388.030389360329, + 2.630305262945848 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -338.35394736499654, + -385.4323131489757, + 2.630305262945848 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -339.85394736499654, + -382.8342369376224, + 2.630305262945848 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -341.35394736499654, + -380.2361607262691, + 2.630305262945848 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -341.35394736499654, + -380.2361607262691, + 2.630305262945848 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -343.95202357634986, + -378.7361607262691, + 2.630305262945848 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -346.5500997877032, + -377.2361607262691, + 2.630305262945848 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -348.85303680419923, + -377.0924723815918, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-22-11_351205738/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-22-11_351205738/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..96cac22ec7f998a293a4d7b5c573d38f3e2ab79b --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-22-11_351205738/pose.jsonl @@ -0,0 +1,456 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 33.83340359611501, + -97.34681474796562, + -4.399524990813692 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 36.43147980746833, + -95.84681474796562, + -4.399524990813692 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 39.029556018821644, + -94.34681474796562, + -4.399524990813692 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 39.029556018821644, + -94.34681474796562, + -4.399524990813692 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 40.529556018821644, + -91.74873853661231, + -4.399524990813692 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 42.029556018821644, + -89.15066232525899, + -4.399524990813692 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 43.529556018821644, + -86.55258611390568, + -4.399524990813692 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 45.029556018821644, + -83.95450990255236, + -4.399524990813692 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 46.529556018821644, + -81.35643369119904, + -4.399524990813692 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 48.029556018821644, + -78.75835747984573, + -4.399524990813692 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 49.529556018821644, + -76.16028126849241, + -4.399524990813692 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 51.029556018821644, + -73.5622050571391, + -4.399524990813692 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 52.529556018821644, + -70.96412884578578, + -4.399524990813692 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 54.029556018821644, + -68.36605263443246, + -4.399524990813692 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 54.029556018821644, + -68.36605263443246, + -4.399524990813692 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 54.029556018821644, + -65.36605263443246, + -4.399524990813692 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 54.029556018821644, + -62.366052634432464, + -4.399524990813692 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 54.029556018821644, + -59.366052634432464, + -4.399524990813692 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 54.029556018821644, + -56.366052634432464, + -4.399524990813692 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 54.029556018821644, + -53.366052634432464, + -4.399524990813692 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 54.029556018821644, + -50.366052634432464, + -4.399524990813692 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 54.029556018821644, + -47.366052634432464, + -4.399524990813692 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 54.029556018821644, + -44.366052634432464, + -4.399524990813692 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 54.029556018821644, + -41.366052634432464, + -4.399524990813692 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 54.029556018821644, + -38.366052634432464, + -4.399524990813692 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 54.029556018821644, + -35.366052634432464, + -4.399524990813692 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 54.029556018821644, + -32.366052634432464, + -4.399524990813692 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 54.029556018821644, + -29.366052634432464, + -4.399524990813692 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 54.029556018821644, + -26.366052634432464, + -4.399524990813692 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 54.029556018821644, + -23.366052634432464, + -4.399524990813692 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 54.029556018821644, + -20.366052634432464, + -4.399524990813692 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 54.029556018821644, + -17.366052634432464, + -4.399524990813692 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 54.029556018821644, + -14.366052634432464, + -4.399524990813692 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 54.029556018821644, + -11.366052634432464, + -4.399524990813692 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 56.6919751739502, + -8.754466934204101, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-26-18_373026856/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-26-18_373026856/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bf31a18a0d29f42db80629d58432ecc7d27e8c32 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-26-18_373026856/pose.jsonl @@ -0,0 +1,131 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 479.2308528999007, + 393.8814216656539, + 3.125550591037266 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 482.2308528999007, + 393.8814216656539, + 3.125550591037266 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 485.2308528999007, + 393.8814216656539, + 3.125550591037266 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 488.2308528999007, + 393.8814216656539, + 3.125550591037266 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 491.2308528999007, + 393.8814216656539, + 3.125550591037266 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 491.2308528999007, + 393.8814216656539, + 3.125550591037266 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 493.828929111254, + 395.3814216656539, + 3.125550591037266 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 496.42700532260733, + 396.8814216656539, + 3.125550591037266 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 499.02508153396064, + 398.3814216656539, + 3.125550591037266 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 560.3580831909179, + 412.7992530822754, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-29-21_789373855/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-29-21_789373855/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a49ce722630cc5e5fc6cf3ad1db20afd0b6cf1e1 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-29-21_789373855/pose.jsonl @@ -0,0 +1,547 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -773.9065983751343, + 121.0470503162495, + 0.8764402988780571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -772.4065983751343, + 123.64512652760281, + 0.8764402988780571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -770.9065983751343, + 126.24320273895613, + 0.8764402988780571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -769.4065983751343, + 128.84127895030946, + 0.8764402988780571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -767.9065983751343, + 131.43935516166277, + 0.8764402988780571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -766.4065983751343, + 134.0374313730161, + 0.8764402988780571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -764.9065983751343, + 136.6355075843694, + 0.8764402988780571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -763.4065983751343, + 139.23358379572272, + 0.8764402988780571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -761.9065983751343, + 141.83166000707604, + 0.8764402988780571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -760.4065983751343, + 144.42973621842935, + 0.8764402988780571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -758.9065983751343, + 147.02781242978267, + 0.8764402988780571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -757.4065983751343, + 149.625888641136, + 0.8764402988780571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -755.9065983751343, + 152.2239648524893, + 0.8764402988780571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -754.4065983751343, + 154.82204106384262, + 0.8764402988780571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -752.9065983751343, + 157.42011727519593, + 0.8764402988780571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -751.4065983751343, + 160.01819348654925, + 0.8764402988780571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -749.9065983751343, + 162.61626969790257, + 0.8764402988780571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -748.4065983751343, + 165.21434590925588, + 0.8764402988780571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -746.9065983751343, + 167.8124221206092, + 0.8764402988780571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -745.4065983751343, + 170.41049833196251, + 0.8764402988780571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -743.9065983751343, + 173.00857454331583, + 0.8764402988780571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -742.4065983751343, + 175.60665075466915, + 0.8764402988780571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -740.9065983751343, + 178.20472696602246, + 0.8764402988780571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -739.4065983751343, + 180.80280317737578, + 0.8764402988780571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -737.9065983751343, + 183.4008793887291, + 0.8764402988780571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -736.4065983751343, + 185.9989556000824, + 0.8764402988780571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -734.9065983751343, + 188.59703181143573, + 0.8764402988780571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -733.4065983751343, + 191.19510802278904, + 0.8764402988780571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -731.9065983751343, + 193.79318423414236, + 0.8764402988780571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -730.4065983751343, + 196.39126044549567, + 0.8764402988780571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -728.9065983751343, + 198.989336656849, + 0.8764402988780571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -727.4065983751343, + 201.5874128682023, + 0.8764402988780571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -725.9065983751343, + 204.18548907955562, + 0.8764402988780571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -724.4065983751343, + 206.78356529090894, + 0.8764402988780571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -722.9065983751343, + 209.38164150226226, + 0.8764402988780571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -721.4065983751343, + 211.97971771361557, + 0.8764402988780571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -719.9065983751343, + 214.5777939249689, + 0.8764402988780571 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -719.9065983751343, + 214.5777939249689, + 0.8764402988780571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -719.9065983751343, + 217.5777939249689, + 0.8764402988780571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -719.9065983751343, + 220.5777939249689, + 0.8764402988780571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -719.9065983751343, + 223.5777939249689, + 0.8764402988780571 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -719.2420056152343, + 225.9435828399658, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-30-40_1009771475/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-30-40_1009771475/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fc993d5faf78e7079f843615eab8e85b50aa9bd8 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-30-40_1009771475/pose.jsonl @@ -0,0 +1,495 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -896.1244802576571, + 283.6415255467752, + -2.820019242611063 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -899.1244802576571, + 283.6415255467752, + -2.820019242611063 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -902.1244802576571, + 283.6415255467752, + -2.820019242611063 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -905.1244802576571, + 283.6415255467752, + -2.820019242611063 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -908.1244802576571, + 283.6415255467752, + -2.820019242611063 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -911.1244802576571, + 283.6415255467752, + -2.820019242611063 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -914.1244802576571, + 283.6415255467752, + -2.820019242611063 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -917.1244802576571, + 283.6415255467752, + -2.820019242611063 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -920.1244802576571, + 283.6415255467752, + -2.820019242611063 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -923.1244802576571, + 283.6415255467752, + -2.820019242611063 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -926.1244802576571, + 283.6415255467752, + -2.820019242611063 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -929.1244802576571, + 283.6415255467752, + -2.820019242611063 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -932.1244802576571, + 283.6415255467752, + -2.820019242611063 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -935.1244802576571, + 283.6415255467752, + -2.820019242611063 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -938.1244802576571, + 283.6415255467752, + -2.820019242611063 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -941.1244802576571, + 283.6415255467752, + -2.820019242611063 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -944.1244802576571, + 283.6415255467752, + -2.820019242611063 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -947.1244802576571, + 283.6415255467752, + -2.820019242611063 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -950.1244802576571, + 283.6415255467752, + -2.820019242611063 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -953.1244802576571, + 283.6415255467752, + -2.820019242611063 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -956.1244802576571, + 283.6415255467752, + -2.820019242611063 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -959.1244802576571, + 283.6415255467752, + -2.820019242611063 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -962.1244802576571, + 283.6415255467752, + -2.820019242611063 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -965.1244802576571, + 283.6415255467752, + -2.820019242611063 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -968.1244802576571, + 283.6415255467752, + -2.820019242611063 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -971.1244802576571, + 283.6415255467752, + -2.820019242611063 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -974.1244802576571, + 283.6415255467752, + -2.820019242611063 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -977.1244802576571, + 283.6415255467752, + -2.820019242611063 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -980.1244802576571, + 283.6415255467752, + -2.820019242611063 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -983.1244802576571, + 283.6415255467752, + -2.820019242611063 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -986.1244802576571, + 283.6415255467752, + -2.820019242611063 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -989.1244802576571, + 283.6415255467752, + -2.820019242611063 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -989.1244802576571, + 283.6415255467752, + -2.820019242611063 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -991.7225564690104, + 282.1415255467752, + -2.820019242611063 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -994.3206326803638, + 280.6415255467752, + -2.820019242611063 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -996.9187088917172, + 279.1415255467752, + -2.820019242611063 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -999.5167851030706, + 277.6415255467752, + -2.820019242611063 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1002.9734149169922, + 277.3824105834961, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-30-9_1140579593/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-30-9_1140579593/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..be351f435b656307f97b4f2b5f93252af1b4103a --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-30-9_1140579593/pose.jsonl @@ -0,0 +1,378 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -267.28027207021506, + -364.6536432224733, + 0.4208029537708864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -264.28027207021506, + -364.6536432224733, + 0.4208029537708864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -261.28027207021506, + -364.6536432224733, + 0.4208029537708864 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -261.28027207021506, + -364.6536432224733, + 0.4208029537708864 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -261.28027207021506, + -364.6536432224733, + 0.4208029537708864 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -259.78027207021506, + -367.2517194338266, + 0.4208029537708864 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -258.28027207021506, + -369.84979564517994, + 0.4208029537708864 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -256.78027207021506, + -372.44787185653325, + 0.4208029537708864 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -255.28027207021506, + -375.04594806788657, + 0.4208029537708864 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -253.78027207021506, + -377.6440242792399, + 0.4208029537708864 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -252.28027207021506, + -380.2421004905932, + 0.4208029537708864 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -250.78027207021506, + -382.8401767019465, + 0.4208029537708864 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -249.28027207021506, + -385.43825291329983, + 0.4208029537708864 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -247.78027207021506, + -388.03632912465315, + 0.4208029537708864 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -246.28027207021506, + -390.63440533600647, + 0.4208029537708864 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -244.78027207021506, + -393.2324815473598, + 0.4208029537708864 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -243.28027207021506, + -395.8305577587131, + 0.4208029537708864 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -241.78027207021506, + -398.4286339700664, + 0.4208029537708864 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -241.78027207021506, + -398.4286339700664, + 0.4208029537708864 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -239.18219585886175, + -399.9286339700664, + 0.4208029537708864 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -236.58411964750843, + -401.4286339700664, + 0.4208029537708864 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -233.98604343615511, + -402.9286339700664, + 0.4208029537708864 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -231.3879672248018, + -404.4286339700664, + 0.4208029537708864 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -228.78989101344848, + -405.9286339700664, + 0.4208029537708864 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -226.19181480209517, + -407.4286339700664, + 0.4208029537708864 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -223.59373859074185, + -408.9286339700664, + 0.4208029537708864 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -220.99566237938853, + -410.4286339700664, + 0.4208029537708864 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -218.39758616803522, + -411.9286339700664, + 0.4208029537708864 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -215.0078338623047, + -412.48035171508786, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-32-3_86690306/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-32-3_86690306/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..da1811b8d5938591d94b0aa3c533e22046034df4 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-32-3_86690306/pose.jsonl @@ -0,0 +1,508 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -206.02510491960317, + -161.8486586327951, + -2.2048398730684973 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -204.52510491960317, + -159.25058242144178, + -2.2048398730684973 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -203.02510491960317, + -156.65250621008846, + -2.2048398730684973 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -201.52510491960317, + -154.05442999873515, + -2.2048398730684973 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -200.02510491960317, + -151.45635378738183, + -2.2048398730684973 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -198.52510491960317, + -148.8582775760285, + -2.2048398730684973 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -197.02510491960317, + -146.2602013646752, + -2.2048398730684973 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -195.52510491960317, + -143.66212515332188, + -2.2048398730684973 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -194.02510491960317, + -141.06404894196857, + -2.2048398730684973 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -192.52510491960317, + -138.46597273061525, + -2.2048398730684973 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -191.02510491960317, + -135.86789651926193, + -2.2048398730684973 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -189.52510491960317, + -133.26982030790862, + -2.2048398730684973 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -188.02510491960317, + -130.6717440965553, + -2.2048398730684973 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -186.52510491960317, + -128.07366788520198, + -2.2048398730684973 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -185.02510491960317, + -125.47559167384867, + -2.2048398730684973 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -183.52510491960317, + -122.87751546249535, + -2.2048398730684973 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -182.02510491960317, + -120.27943925114204, + -2.2048398730684973 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -180.52510491960317, + -117.68136303978872, + -2.2048398730684973 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -179.02510491960317, + -115.0832868284354, + -2.2048398730684973 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -177.52510491960317, + -112.48521061708209, + -2.2048398730684973 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -176.02510491960317, + -109.88713440572877, + -2.2048398730684973 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -174.52510491960317, + -107.28905819437546, + -2.2048398730684973 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -173.02510491960317, + -104.69098198302214, + -2.2048398730684973 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -171.52510491960317, + -102.09290577166882, + -2.2048398730684973 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -170.02510491960317, + -99.49482956031551, + -2.2048398730684973 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -168.52510491960317, + -96.89675334896219, + -2.2048398730684973 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -167.02510491960317, + -94.29867713760888, + -2.2048398730684973 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -165.52510491960317, + -91.70060092625556, + -2.2048398730684973 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -164.02510491960317, + -89.10252471490224, + -2.2048398730684973 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -162.52510491960317, + -86.50444850354893, + -2.2048398730684973 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -161.02510491960317, + -83.90637229219561, + -2.2048398730684973 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -159.52510491960317, + -81.3082960808423, + -2.2048398730684973 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -158.02510491960317, + -78.71021986948898, + -2.2048398730684973 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -158.02510491960317, + -78.71021986948898, + -2.2048398730684973 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -158.02510491960317, + -75.71021986948898, + -2.2048398730684973 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -158.02510491960317, + -72.71021986948898, + -2.2048398730684973 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -158.02510491960317, + -69.71021986948898, + -2.2048398730684973 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -158.02510491960317, + -66.71021986948898, + -2.2048398730684973 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -156.47577671051025, + -64.65314291000367, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-36-30_1536359305/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-36-30_1536359305/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c5511219069964d0de30a7eaca1d309b39b86444 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-36-30_1536359305/pose.jsonl @@ -0,0 +1,443 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -527.0863307765092, + 24.623610521230002, + 2.2569238988265683 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -524.0863307765092, + 24.623610521230002, + 2.2569238988265683 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -521.0863307765092, + 24.623610521230002, + 2.2569238988265683 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -518.0863307765092, + 24.623610521230002, + 2.2569238988265683 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -515.0863307765092, + 24.623610521230002, + 2.2569238988265683 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -512.0863307765092, + 24.623610521230002, + 2.2569238988265683 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -509.08633077650916, + 24.623610521230002, + 2.2569238988265683 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -506.08633077650916, + 24.623610521230002, + 2.2569238988265683 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -503.08633077650916, + 24.623610521230002, + 2.2569238988265683 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -500.08633077650916, + 24.623610521230002, + 2.2569238988265683 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -497.08633077650916, + 24.623610521230002, + 2.2569238988265683 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -494.08633077650916, + 24.623610521230002, + 2.2569238988265683 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -491.08633077650916, + 24.623610521230002, + 2.2569238988265683 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -488.08633077650916, + 24.623610521230002, + 2.2569238988265683 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -485.08633077650916, + 24.623610521230002, + 2.2569238988265683 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -482.08633077650916, + 24.623610521230002, + 2.2569238988265683 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -479.08633077650916, + 24.623610521230002, + 2.2569238988265683 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -476.08633077650916, + 24.623610521230002, + 2.2569238988265683 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -473.08633077650916, + 24.623610521230002, + 2.2569238988265683 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -470.08633077650916, + 24.623610521230002, + 2.2569238988265683 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -467.08633077650916, + 24.623610521230002, + 2.2569238988265683 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -464.08633077650916, + 24.623610521230002, + 2.2569238988265683 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -461.08633077650916, + 24.623610521230002, + 2.2569238988265683 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -458.08633077650916, + 24.623610521230002, + 2.2569238988265683 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -455.08633077650916, + 24.623610521230002, + 2.2569238988265683 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -452.08633077650916, + 24.623610521230002, + 2.2569238988265683 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -449.08633077650916, + 24.623610521230002, + 2.2569238988265683 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -446.08633077650916, + 24.623610521230002, + 2.2569238988265683 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -446.08633077650916, + 24.623610521230002, + 2.2569238988265683 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -443.48825456515584, + 26.123610521230002, + 2.2569238988265683 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -440.8901783538025, + 27.623610521230002, + 2.2569238988265683 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -438.2921021424492, + 29.123610521230002, + 2.2569238988265683 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -435.6940259310959, + 30.623610521230002, + 2.2569238988265683 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -431.4943495178223, + 32.88219102859497, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-39-2_247011964/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-39-2_247011964/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3ca05cc13854df3ad2f8fc50be989f21bfb1a34d --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-39-2_247011964/pose.jsonl @@ -0,0 +1,404 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -808.7333904204442, + 227.8260345261813, + -1.3812115186953733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -805.7333904204442, + 227.8260345261813, + -1.3812115186953733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -802.7333904204442, + 227.8260345261813, + -1.3812115186953733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -799.7333904204442, + 227.8260345261813, + -1.3812115186953733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -796.7333904204442, + 227.8260345261813, + -1.3812115186953733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -793.7333904204442, + 227.8260345261813, + -1.3812115186953733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -790.7333904204442, + 227.8260345261813, + -1.3812115186953733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -787.7333904204442, + 227.8260345261813, + -1.3812115186953733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -784.7333904204442, + 227.8260345261813, + -1.3812115186953733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -781.7333904204442, + 227.8260345261813, + -1.3812115186953733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -778.7333904204442, + 227.8260345261813, + -1.3812115186953733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -775.7333904204442, + 227.8260345261813, + -1.3812115186953733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -772.7333904204442, + 227.8260345261813, + -1.3812115186953733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -769.7333904204442, + 227.8260345261813, + -1.3812115186953733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -766.7333904204442, + 227.8260345261813, + -1.3812115186953733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -763.7333904204442, + 227.8260345261813, + -1.3812115186953733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -760.7333904204442, + 227.8260345261813, + -1.3812115186953733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -757.7333904204442, + 227.8260345261813, + -1.3812115186953733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -754.7333904204442, + 227.8260345261813, + -1.3812115186953733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -751.7333904204442, + 227.8260345261813, + -1.3812115186953733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -748.7333904204442, + 227.8260345261813, + -1.3812115186953733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -745.7333904204442, + 227.8260345261813, + -1.3812115186953733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -742.7333904204442, + 227.8260345261813, + -1.3812115186953733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -739.7333904204442, + 227.8260345261813, + -1.3812115186953733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -736.7333904204442, + 227.8260345261813, + -1.3812115186953733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -733.7333904204442, + 227.8260345261813, + -1.3812115186953733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -730.7333904204442, + 227.8260345261813, + -1.3812115186953733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -727.7333904204442, + 227.8260345261813, + -1.3812115186953733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -724.7333904204442, + 227.8260345261813, + -1.3812115186953733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -721.7333904204442, + 227.8260345261813, + -1.3812115186953733 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -719.2420056152343, + 225.9435828399658, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-43-35_1400267990/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-43-35_1400267990/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a85409be24427038dcfa7d6a1daa7bb08c836c87 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-43-35_1400267990/pose.jsonl @@ -0,0 +1,456 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -630.976544119379, + 157.35229456755218, + -1.329520070843826 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -632.476544119379, + 159.9503707789055, + -1.329520070843826 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -633.976544119379, + 162.5484469902588, + -1.329520070843826 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -635.476544119379, + 165.14652320161213, + -1.329520070843826 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -636.976544119379, + 167.74459941296544, + -1.329520070843826 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -638.476544119379, + 170.34267562431876, + -1.329520070843826 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -639.976544119379, + 172.94075183567207, + -1.329520070843826 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -641.476544119379, + 175.5388280470254, + -1.329520070843826 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -642.976544119379, + 178.1369042583787, + -1.329520070843826 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -644.476544119379, + 180.73498046973202, + -1.329520070843826 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -645.976544119379, + 183.33305668108534, + -1.329520070843826 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -647.476544119379, + 185.93113289243865, + -1.329520070843826 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -648.976544119379, + 188.52920910379197, + -1.329520070843826 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -650.476544119379, + 191.1272853151453, + -1.329520070843826 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -651.976544119379, + 193.7253615264986, + -1.329520070843826 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -653.476544119379, + 196.32343773785192, + -1.329520070843826 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -654.976544119379, + 198.92151394920523, + -1.329520070843826 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -656.476544119379, + 201.51959016055855, + -1.329520070843826 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -657.976544119379, + 204.11766637191187, + -1.329520070843826 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -659.476544119379, + 206.71574258326518, + -1.329520070843826 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -660.976544119379, + 209.3138187946185, + -1.329520070843826 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -662.476544119379, + 211.91189500597181, + -1.329520070843826 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -663.976544119379, + 214.50997121732513, + -1.329520070843826 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -665.476544119379, + 217.10804742867845, + -1.329520070843826 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -666.976544119379, + 219.70612364003176, + -1.329520070843826 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -668.476544119379, + 222.30419985138508, + -1.329520070843826 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -669.976544119379, + 224.9022760627384, + -1.329520070843826 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -671.476544119379, + 227.5003522740917, + -1.329520070843826 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -671.476544119379, + 227.5003522740917, + -1.329520070843826 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -674.0746203307324, + 229.0003522740917, + -1.329520070843826 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -676.6726965420858, + 230.5003522740917, + -1.329520070843826 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -679.2707727534391, + 232.0003522740917, + -1.329520070843826 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -681.8688489647925, + 233.5003522740917, + -1.329520070843826 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -684.4669251761459, + 235.0003522740917, + -1.329520070843826 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -684.7201055908203, + 237.53857521057128, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-50-56_724148075/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-50-56_724148075/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..20d0683958ea14d68a0faf87540f8346aba03e15 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-50-56_724148075/pose.jsonl @@ -0,0 +1,430 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 431.9238633358678, + -62.731271925711425, + -2.423683612711623 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 433.4238633358678, + -60.13319571435811, + -2.423683612711623 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 434.9238633358678, + -57.53511950300479, + -2.423683612711623 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 436.4238633358678, + -54.93704329165148, + -2.423683612711623 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 437.9238633358678, + -52.33896708029816, + -2.423683612711623 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 439.4238633358678, + -49.740890868944845, + -2.423683612711623 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 440.9238633358678, + -47.14281465759153, + -2.423683612711623 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 442.4238633358678, + -44.54473844623821, + -2.423683612711623 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 443.9238633358678, + -41.9466622348849, + -2.423683612711623 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 445.4238633358678, + -39.34858602353158, + -2.423683612711623 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 446.9238633358678, + -36.750509812178265, + -2.423683612711623 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 448.4238633358678, + -34.15243360082495, + -2.423683612711623 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 449.9238633358678, + -31.554357389471633, + -2.423683612711623 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 451.4238633358678, + -28.956281178118317, + -2.423683612711623 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 452.9238633358678, + -26.358204966765, + -2.423683612711623 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 454.4238633358678, + -23.760128755411685, + -2.423683612711623 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 455.9238633358678, + -21.16205254405837, + -2.423683612711623 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 457.4238633358678, + -18.563976332705053, + -2.423683612711623 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 458.9238633358678, + -15.965900121351737, + -2.423683612711623 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 460.4238633358678, + -13.367823909998421, + -2.423683612711623 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 461.9238633358678, + -10.769747698645105, + -2.423683612711623 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 463.4238633358678, + -8.171671487291789, + -2.423683612711623 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 464.9238633358678, + -5.573595275938473, + -2.423683612711623 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 466.4238633358678, + -2.975519064585157, + -2.423683612711623 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 467.9238633358678, + -0.377442853231841, + -2.423683612711623 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 469.4238633358678, + 2.220633358121475, + -2.423683612711623 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 470.9238633358678, + 4.818709569474791, + -2.423683612711623 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 472.4238633358678, + 7.416785780828107, + -2.423683612711623 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 473.9238633358678, + 10.014861992181423, + -2.423683612711623 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 475.4238633358678, + 12.612938203534739, + -2.423683612711623 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 476.9238633358678, + 15.211014414888055, + -2.423683612711623 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 478.4238633358678, + 17.80909062624137, + -2.423683612711623 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 481.2035136413574, + 19.23793586730957, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-6-33_1722454443/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-6-33_1722454443/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bf0ee2371d372d2e03438734068ff34a47d2c963 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-6-33_1722454443/pose.jsonl @@ -0,0 +1,404 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -722.9973442606891, + 101.36149337696443, + 0.22647032205202322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -722.9973442606891, + 98.36149337696443, + 0.22647032205202322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -722.9973442606891, + 95.36149337696443, + 0.22647032205202322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -722.9973442606891, + 92.36149337696443, + 0.22647032205202322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -722.9973442606891, + 89.36149337696443, + 0.22647032205202322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -722.9973442606891, + 86.36149337696443, + 0.22647032205202322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -722.9973442606891, + 83.36149337696443, + 0.22647032205202322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -722.9973442606891, + 80.36149337696443, + 0.22647032205202322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -722.9973442606891, + 77.36149337696443, + 0.22647032205202322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -722.9973442606891, + 74.36149337696443, + 0.22647032205202322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -722.9973442606891, + 71.36149337696443, + 0.22647032205202322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -722.9973442606891, + 68.36149337696443, + 0.22647032205202322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -722.9973442606891, + 65.36149337696443, + 0.22647032205202322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -722.9973442606891, + 62.36149337696443, + 0.22647032205202322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -722.9973442606891, + 59.36149337696443, + 0.22647032205202322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -722.9973442606891, + 56.36149337696443, + 0.22647032205202322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -722.9973442606891, + 53.36149337696443, + 0.22647032205202322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -722.9973442606891, + 50.36149337696443, + 0.22647032205202322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -722.9973442606891, + 47.36149337696443, + 0.22647032205202322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -722.9973442606891, + 44.36149337696443, + 0.22647032205202322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -722.9973442606891, + 41.36149337696443, + 0.22647032205202322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -722.9973442606891, + 38.36149337696443, + 0.22647032205202322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -722.9973442606891, + 35.36149337696443, + 0.22647032205202322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -722.9973442606891, + 32.36149337696443, + 0.22647032205202322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -722.9973442606891, + 29.361493376964432, + 0.22647032205202322 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -722.9973442606891, + 29.361493376964432, + 0.22647032205202322 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -722.9973442606891, + 29.361493376964432, + 0.22647032205202322 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -725.5954204720424, + 27.861493376964432, + 0.22647032205202322 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -728.1934966833958, + 26.361493376964432, + 0.22647032205202322 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -730.7915728947492, + 24.861493376964432, + 0.22647032205202322 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -731.5441055297852, + 23.07341537475586, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-8-40_604832038/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-8-40_604832038/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cb13aa2a8e05abc1a1bc75a8c567d5eae628ee58 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-8-40_604832038/pose.jsonl @@ -0,0 +1,508 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 256.4842292094204, + -267.4988335415072, + -2.96713192692139 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 253.88615299806708, + -268.9988335415072, + -2.96713192692139 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 251.28807678671376, + -270.4988335415072, + -2.96713192692139 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 248.69000057536044, + -271.9988335415072, + -2.96713192692139 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 246.09192436400713, + -273.4988335415072, + -2.96713192692139 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 243.4938481526538, + -274.9988335415072, + -2.96713192692139 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 240.8957719413005, + -276.4988335415072, + -2.96713192692139 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 238.29769572994718, + -277.9988335415072, + -2.96713192692139 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 235.69961951859386, + -279.4988335415072, + -2.96713192692139 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 233.10154330724055, + -280.9988335415072, + -2.96713192692139 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 230.50346709588723, + -282.4988335415072, + -2.96713192692139 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 227.90539088453392, + -283.9988335415072, + -2.96713192692139 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 225.3073146731806, + -285.4988335415072, + -2.96713192692139 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 222.70923846182728, + -286.9988335415072, + -2.96713192692139 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 220.11116225047397, + -288.4988335415072, + -2.96713192692139 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 217.51308603912065, + -289.9988335415072, + -2.96713192692139 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 214.91500982776734, + -291.4988335415072, + -2.96713192692139 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 212.31693361641402, + -292.9988335415072, + -2.96713192692139 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 209.7188574050607, + -294.4988335415072, + -2.96713192692139 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 207.1207811937074, + -295.9988335415072, + -2.96713192692139 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 204.52270498235407, + -297.4988335415072, + -2.96713192692139 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 201.92462877100076, + -298.9988335415072, + -2.96713192692139 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 199.32655255964744, + -300.4988335415072, + -2.96713192692139 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 199.32655255964744, + -300.4988335415072, + -2.96713192692139 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 196.32655255964744, + -300.4988335415072, + -2.96713192692139 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 193.32655255964744, + -300.4988335415072, + -2.96713192692139 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 190.32655255964744, + -300.4988335415072, + -2.96713192692139 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 187.32655255964744, + -300.4988335415072, + -2.96713192692139 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 184.32655255964744, + -300.4988335415072, + -2.96713192692139 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 181.32655255964744, + -300.4988335415072, + -2.96713192692139 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 178.32655255964744, + -300.4988335415072, + -2.96713192692139 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 175.32655255964744, + -300.4988335415072, + -2.96713192692139 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 172.32655255964744, + -300.4988335415072, + -2.96713192692139 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 169.32655255964744, + -300.4988335415072, + -2.96713192692139 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 166.32655255964744, + -300.4988335415072, + -2.96713192692139 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 163.32655255964744, + -300.4988335415072, + -2.96713192692139 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 160.32655255964744, + -300.4988335415072, + -2.96713192692139 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 157.32655255964744, + -300.4988335415072, + -2.96713192692139 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 156.50516716003418, + -301.9973617553711, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-6_11-13-28_412776091/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-6_11-13-28_412776091/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0496bf8f48c60f617aaef046a8eae493f304287f --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-6_11-13-28_412776091/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 486.113736397418, + 518.8875384448728, + -3.407592539740321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 483.5156601860647, + 520.3875384448728, + -3.407592539740321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 480.91758397471136, + 521.8875384448728, + -3.407592539740321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 478.31950776335805, + 523.3875384448728, + -3.407592539740321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 475.72143155200473, + 524.8875384448728, + -3.407592539740321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 473.1233553406514, + 526.3875384448728, + -3.407592539740321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 470.5252791292981, + 527.8875384448728, + -3.407592539740321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 467.9272029179448, + 529.3875384448728, + -3.407592539740321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 465.32912670659147, + 530.8875384448728, + -3.407592539740321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 462.73105049523815, + 532.3875384448728, + -3.407592539740321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 460.13297428388483, + 533.8875384448728, + -3.407592539740321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 457.5348980725315, + 535.3875384448728, + -3.407592539740321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 454.9368218611782, + 536.8875384448728, + -3.407592539740321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 452.3387456498249, + 538.3875384448728, + -3.407592539740321 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 452.3387456498249, + 538.3875384448728, + -3.407592539740321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 450.8387456498249, + 540.9856146562261, + -3.407592539740321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 449.3387456498249, + 543.5836908675794, + -3.407592539740321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 447.8387456498249, + 546.1817670789328, + -3.407592539740321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 446.3387456498249, + 548.7798432902862, + -3.407592539740321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 444.8387456498249, + 551.3779195016396, + -3.407592539740321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 443.3387456498249, + 553.9759957129929, + -3.407592539740321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 441.8387456498249, + 556.5740719243463, + -3.407592539740321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 440.3387456498249, + 559.1721481356997, + -3.407592539740321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 438.8387456498249, + 561.770224347053, + -3.407592539740321 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 439.84950744628907, + 563.3985629272461, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-6_11-17-16_1632621729/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-6_11-17-16_1632621729/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5f2ddd02cc55fa72f2f18e9fac18f4a44fd29f40 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-6_11-17-16_1632621729/pose.jsonl @@ -0,0 +1,430 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -672.9162340158524, + -251.92775703539638, + -0.9300042788800811 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -672.9162340158524, + -248.92775703539638, + -0.9300042788800811 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -672.9162340158524, + -245.92775703539638, + -0.9300042788800811 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -672.9162340158524, + -242.92775703539638, + -0.9300042788800811 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -672.9162340158524, + -239.92775703539638, + -0.9300042788800811 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -672.9162340158524, + -236.92775703539638, + -0.9300042788800811 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -672.9162340158524, + -233.92775703539638, + -0.9300042788800811 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -672.9162340158524, + -230.92775703539638, + -0.9300042788800811 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -672.9162340158524, + -227.92775703539638, + -0.9300042788800811 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -672.9162340158524, + -224.92775703539638, + -0.9300042788800811 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -672.9162340158524, + -221.92775703539638, + -0.9300042788800811 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -672.9162340158524, + -218.92775703539638, + -0.9300042788800811 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -672.9162340158524, + -215.92775703539638, + -0.9300042788800811 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -672.9162340158524, + -212.92775703539638, + -0.9300042788800811 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -672.9162340158524, + -209.92775703539638, + -0.9300042788800811 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -672.9162340158524, + -206.92775703539638, + -0.9300042788800811 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -672.9162340158524, + -203.92775703539638, + -0.9300042788800811 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -672.9162340158524, + -200.92775703539638, + -0.9300042788800811 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -672.9162340158524, + -197.92775703539638, + -0.9300042788800811 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -672.9162340158524, + -194.92775703539638, + -0.9300042788800811 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -672.9162340158524, + -191.92775703539638, + -0.9300042788800811 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -672.9162340158524, + -188.92775703539638, + -0.9300042788800811 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -672.9162340158524, + -185.92775703539638, + -0.9300042788800811 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -672.9162340158524, + -185.92775703539638, + -0.9300042788800811 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -671.4162340158524, + -183.32968082404307, + -0.9300042788800811 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -669.9162340158524, + -180.73160461268975, + -0.9300042788800811 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -668.4162340158524, + -178.13352840133643, + -0.9300042788800811 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -666.9162340158524, + -175.53545218998312, + -0.9300042788800811 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -665.4162340158524, + -172.9373759786298, + -0.9300042788800811 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -663.9162340158524, + -170.3392997672765, + -0.9300042788800811 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -662.4162340158524, + -167.74122355592317, + -0.9300042788800811 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -660.9162340158524, + -165.14314734456985, + -0.9300042788800811 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -661.3270858764648, + -162.2898444366455, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-6_11-17-3_805750846/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-6_11-17-3_805750846/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..44d9c8cfb3ad6711ef7682b9e62448d43c04ddad --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-6_11-17-3_805750846/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -215.87896260691647, + -41.82833400027823, + 3.402069153203062 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -212.87896260691647, + -41.82833400027823, + 3.402069153203062 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -209.87896260691647, + -41.82833400027823, + 3.402069153203062 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -206.87896260691647, + -41.82833400027823, + 3.402069153203062 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -203.87896260691647, + -41.82833400027823, + 3.402069153203062 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -200.87896260691647, + -41.82833400027823, + 3.402069153203062 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -197.87896260691647, + -41.82833400027823, + 3.402069153203062 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -194.87896260691647, + -41.82833400027823, + 3.402069153203062 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -191.87896260691647, + -41.82833400027823, + 3.402069153203062 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -191.87896260691647, + -41.82833400027823, + 3.402069153203062 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -189.28088639556316, + -43.32833400027823, + 3.402069153203062 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -186.68281018420984, + -44.82833400027823, + 3.402069153203062 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -184.08473397285653, + -46.32833400027823, + 3.402069153203062 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -181.4866577615032, + -47.82833400027823, + 3.402069153203062 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -178.8885815501499, + -49.32833400027823, + 3.402069153203062 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -176.29050533879658, + -50.82833400027823, + 3.402069153203062 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -173.69242912744326, + -52.32833400027823, + 3.402069153203062 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -171.09435291608995, + -53.82833400027823, + 3.402069153203062 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -168.49627670473663, + -55.32833400027823, + 3.402069153203062 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -165.8982004933833, + -56.82833400027823, + 3.402069153203062 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -163.30012428203, + -58.32833400027823, + 3.402069153203062 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -160.70204807067668, + -59.82833400027823, + 3.402069153203062 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -158.10397185932337, + -61.32833400027823, + 3.402069153203062 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -156.47577671051025, + -64.65314291000367, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-6_11-17-47_1433925857/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-6_11-17-47_1433925857/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9e79980e94bb739ba6f78d8e2215a79e769a3acf --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-6_11-17-47_1433925857/pose.jsonl @@ -0,0 +1,482 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -880.2002256940207, + 253.9274558218557, + -4.709748932888397 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -881.7002256940207, + 256.525532033209, + -4.709748932888397 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -883.2002256940207, + 259.1236082445623, + -4.709748932888397 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -884.7002256940207, + 261.72168445591564, + -4.709748932888397 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -886.2002256940207, + 264.31976066726895, + -4.709748932888397 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -887.7002256940207, + 266.91783687862227, + -4.709748932888397 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -889.2002256940207, + 269.5159130899756, + -4.709748932888397 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -890.7002256940207, + 272.1139893013289, + -4.709748932888397 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -892.2002256940207, + 274.7120655126822, + -4.709748932888397 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -893.7002256940207, + 277.31014172403553, + -4.709748932888397 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -895.2002256940207, + 279.90821793538885, + -4.709748932888397 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -896.7002256940207, + 282.50629414674216, + -4.709748932888397 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -898.2002256940207, + 285.1043703580955, + -4.709748932888397 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -899.7002256940207, + 287.7024465694488, + -4.709748932888397 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -901.2002256940207, + 290.3005227808021, + -4.709748932888397 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -902.7002256940207, + 292.8985989921554, + -4.709748932888397 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -904.2002256940207, + 295.49667520350874, + -4.709748932888397 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -905.7002256940207, + 298.09475141486206, + -4.709748932888397 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -907.2002256940207, + 300.6928276262154, + -4.709748932888397 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -908.7002256940207, + 303.2909038375687, + -4.709748932888397 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -910.2002256940207, + 305.888980048922, + -4.709748932888397 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -911.7002256940207, + 308.4870562602753, + -4.709748932888397 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -913.2002256940207, + 311.08513247162864, + -4.709748932888397 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -914.7002256940207, + 313.68320868298196, + -4.709748932888397 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -916.2002256940207, + 316.2812848943353, + -4.709748932888397 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -917.7002256940207, + 318.8793611056886, + -4.709748932888397 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -919.2002256940207, + 321.4774373170419, + -4.709748932888397 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -919.2002256940207, + 321.4774373170419, + -4.709748932888397 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -921.798301905374, + 322.9774373170419, + -4.709748932888397 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -924.3963781167274, + 324.4774373170419, + -4.709748932888397 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -926.9944543280808, + 325.9774373170419, + -4.709748932888397 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -929.5925305394342, + 327.4774373170419, + -4.709748932888397 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -932.1906067507875, + 328.9774373170419, + -4.709748932888397 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -934.7886829621409, + 330.4774373170419, + -4.709748932888397 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -937.3867591734943, + 331.9774373170419, + -4.709748932888397 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -939.9848353848477, + 333.4774373170419, + -4.709748932888397 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -942.5730328369141, + 336.42247901916505, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-6_11-5-47_294702567/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-6_11-5-47_294702567/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..492db75b1b2914f521eafcf859127fa19999e413 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-6_11-5-47_294702567/pose.jsonl @@ -0,0 +1,209 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -931.8777831382729, + 421.211085217479, + 4.354312198895421 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -933.3777831382729, + 418.6130090061257, + 4.354312198895421 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -934.8777831382729, + 416.0149327947724, + 4.354312198895421 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -936.3777831382729, + 413.4168565834191, + 4.354312198895421 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -937.8777831382729, + 410.81878037206576, + 4.354312198895421 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -939.3777831382729, + 408.22070416071244, + 4.354312198895421 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -940.8777831382729, + 405.6226279493591, + 4.354312198895421 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -942.3777831382729, + 403.0245517380058, + 4.354312198895421 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -943.8777831382729, + 400.4264755266525, + 4.354312198895421 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -945.3777831382729, + 397.8283993152992, + 4.354312198895421 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -946.8777831382729, + 395.23032310394586, + 4.354312198895421 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -946.8777831382729, + 395.23032310394586, + 4.354312198895421 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -949.4758593496263, + 393.73032310394586, + 4.354312198895421 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -952.0739355609796, + 392.23032310394586, + 4.354312198895421 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -954.672011772333, + 390.73032310394586, + 4.354312198895421 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -979.8297436523437, + 358.6925830078125, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/upload.sh b/upload.sh new file mode 100644 index 0000000000000000000000000000000000000000..c76c6b36b7ec909ca044d34fbe86c31dae357113 --- /dev/null +++ b/upload.sh @@ -0,0 +1,57 @@ + +# 上传脚本，支持自动重试 +# 使用方法: ./upload.sh + +# 设置重试参数 +MAX_RETRIES=${MAX_RETRIES:-999999} # 默认无限重试，可以通过环境变量设置 +RETRY_DELAY=${RETRY_DELAY:-5} # 重试间隔（秒），可以通过环境变量设置 + +# 上传命令 +UPLOAD_CMD="hf upload-large-folder --repo-type dataset IPEC-COMMUNITY/OpenFly /mnt/shared-storage-user/liujunli/OpenFly_hf/OpenFly --exclude /mnt/shared-storage-user/liujunli/OpenFly_hf/OpenFly/traj" + +# 重试计数 +RETRY_COUNT=0 + +echo "开始执行上传命令..." +echo "最大重试次数: ${MAX_RETRIES}" +echo "重试间隔: ${RETRY_DELAY}秒" +echo "----------------------------------------" + +while [ $RETRY_COUNT -lt $MAX_RETRIES ]; do + if [ $RETRY_COUNT -gt 0 ]; then + echo "" + echo "第 ${RETRY_COUNT} 次重试 ($(date '+%Y-%m-%d %H:%M:%S'))" + echo "等待 ${RETRY_DELAY} 秒后重试..." + sleep $RETRY_DELAY + echo "----------------------------------------" + else + echo "首次执行 ($(date '+%Y-%m-%d %H:%M:%S'))" + echo "----------------------------------------" + fi + + # 执行命令 + $UPLOAD_CMD + + # 检查退出码 + EXIT_CODE=$? + + if [ $EXIT_CODE -eq 0 ]; then + echo "" + echo "========================================" + echo "上传成功完成！ ($(date '+%Y-%m-%d %H:%M:%S'))" + echo "总共重试次数: ${RETRY_COUNT}" + echo "========================================" + exit 0 + else + RETRY_COUNT=$((RETRY_COUNT + 1)) + echo "" + echo "命令执行失败，退出码: ${EXIT_CODE}" + echo "将在 ${RETRY_DELAY} 秒后进行第 ${RETRY_COUNT} 次重试..." + fi +done + +echo "" +echo "========================================" +echo "达到最大重试次数 ${MAX_RETRIES}，退出" +echo "========================================" +exit 1 \ No newline at end of file